CN112154371A - 控制装置、摄像装置、移动体、控制方法以及程序 - Google Patents

控制装置、摄像装置、移动体、控制方法以及程序 Download PDF

Info

Publication number
CN112154371A
CN112154371A CN202080002854.7A CN202080002854A CN112154371A CN 112154371 A CN112154371 A CN 112154371A CN 202080002854 A CN202080002854 A CN 202080002854A CN 112154371 A CN112154371 A CN 112154371A
Authority
CN
China
Prior art keywords
distance
image pickup
optical axis
lens
image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202080002854.7A
Other languages
English (en)
Inventor
本庄谦一
永山佳范
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN112154371A publication Critical patent/CN112154371A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/10—Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/671—Focus control based on electronic image sensor signals in combination with active ranging signals, e.g. using light or sound signals emitted toward objects
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/28—Systems for automatic generation of focusing signals
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/28—Systems for automatic generation of focusing signals
    • G02B7/30—Systems for automatic generation of focusing signals using parallactic triangle with a base line
    • G02B7/32—Systems for automatic generation of focusing signals using parallactic triangle with a base line using active means, e.g. light emitter
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/28—Systems for automatic generation of focusing signals
    • G02B7/36—Systems for automatic generation of focusing signals using image sharpness techniques, e.g. image processing techniques for generating autofocus signals
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/18—Focusing aids
    • G03B13/20—Rangefinders coupled with focusing arrangements, e.g. adjustment of rangefinder automatically focusing camera
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B13/00—Viewfinders; Focusing aids for cameras; Means for focusing for cameras; Autofocus systems for cameras
    • G03B13/32—Means for focusing
    • G03B13/34—Power focusing
    • G03B13/36—Autofocus systems
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/45—Cameras or camera modules comprising electronic image sensors; Control thereof for generating image signals from two or more image sensors being of different type or operating in different modes, e.g. with a CMOS sensor for moving images in combination with a charge-coupled device [CCD] for still images
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/673—Focus control based on electronic image sensor signals based on contrast or high frequency components of image signals, e.g. hill climbing method
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Human Computer Interaction (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Studio Devices (AREA)
  • Focusing (AREA)
  • Stereoscopic And Panoramic Photography (AREA)
  • Automatic Focus Adjustment (AREA)

Abstract

在由测距传感器测量的多个区域中的各自的距离中，通过摄像装置的镜头光轴的被摄体所对应的距离根据到被摄体的距离不同而不同。提供一种控制装置，其可以为对摄像装置进行控制的控制装置，该摄像装置包括采用第一图像传感器对到多个区域各自相关联的被摄体的距离进行测量的测距传感器。控制装置可以包括一种电路，该电路构成为基于由测距传感器测量到的多个距离、摄像装置的镜头光轴和测距传感器的镜头光轴间的第一距离以及测距传感器的视角，从多个距离中确定到通过摄像装置的镜头光轴的被摄体的距离。

Description

PCT国内申请，说明书已公开。

Claims (9)

  1. PCT国内申请，权利要求书已公开。
CN202080002854.7A 2019-04-23 2020-04-03 控制装置、摄像装置、移动体、控制方法以及程序 Pending CN112154371A (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP2019082336A JP6768997B1 (ja) 2019-04-23 2019-04-23 制御装置、撮像装置、移動体、制御方法、及びプログラム
JP2019-082336 2019-04-23
PCT/CN2020/083101 WO2020216037A1 (zh) 2019-04-23 2020-04-03 控制装置、摄像装置、移动体、控制方法以及程序

Publications (1)

Publication Number Publication Date
CN112154371A true CN112154371A (zh) 2020-12-29

Family

ID=72745108

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080002854.7A Pending CN112154371A (zh) 2019-04-23 2020-04-03 控制装置、摄像装置、移动体、控制方法以及程序

Country Status (4)

Country Link
US (1) US20220046177A1 (zh)
JP (1) JP6768997B1 (zh)
CN (1) CN112154371A (zh)
WO (1) WO2020216037A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022213339A1 (zh) * 2021-04-09 2022-10-13 深圳市大疆创新科技有限公司 对焦方法、拍摄设备、拍摄系统以及可读存储介质

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001221945A (ja) * 2000-02-08 2001-08-17 Ricoh Co Ltd 自動合焦装置
CN101430477A (zh) * 2007-11-09 2009-05-13 鸿富锦精密工业（深圳）有限公司 判断被摄物体距离的方法
JP2009175279A (ja) * 2008-01-22 2009-08-06 Olympus Imaging Corp カメラシステム
CN102262333A (zh) * 2010-05-28 2011-11-30 索尼公司 成像装置、成像系统、成像装置的控制方法和程序
JP2012141436A (ja) * 2010-12-28 2012-07-26 Canon Inc 焦点検出装置およびその制御方法
CN102681293A (zh) * 2011-03-07 2012-09-19 微软公司 具有折射光学元件的照明器
CN103299227A (zh) * 2011-01-13 2013-09-11 株式会社理光 图像捕获设备和图像捕获方法
JP2013247543A (ja) * 2012-05-28 2013-12-09 Sony Corp 撮像装置、表示装置、および画像処理方法、並びにプログラム
CN108780262A (zh) * 2016-05-19 2018-11-09 深圳市大疆创新科技有限公司 基于目标检测的自动对焦初始化

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6975361B2 (en) * 2000-02-22 2005-12-13 Minolta Co., Ltd. Imaging system, two-dimensional photographing device and three-dimensional measuring device
JP4593736B2 (ja) * 2000-07-14 2010-12-08 オリンパス株式会社 測距装置
JP2004240054A (ja) * 2003-02-04 2004-08-26 Olympus Corp カメラ
CN101701793B (zh) * 2009-10-29 2011-11-02 天津三星光电子有限公司 利用数码相机测定物体与拍摄相机之间距离的方法
CN101968354A (zh) * 2010-09-29 2011-02-09 清华大学 基于激光探测和图像识别的无人直升机测距方法
CN102445183B (zh) * 2011-10-09 2013-12-18 福建汇川数码技术科技有限公司 基于激光与摄像机平行实现的远程测距系统测距激光点的定位方法
KR102312273B1 (ko) * 2014-11-13 2021-10-12 삼성전자주식회사 거리영상 측정용 카메라 및 그 동작방법
CN107333036A (zh) * 2017-06-28 2017-11-07 驭势科技（北京）有限公司 双目相机
CN107544073A (zh) * 2017-08-29 2018-01-05 北醒（北京）光子科技有限公司 一种飞行器探测方法及高度控制方法
CN108303702B (zh) * 2017-12-30 2020-08-04 武汉灵途传感科技有限公司 一种相位式激光测距系统及方法

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001221945A (ja) * 2000-02-08 2001-08-17 Ricoh Co Ltd 自動合焦装置
CN101430477A (zh) * 2007-11-09 2009-05-13 鸿富锦精密工业（深圳）有限公司 判断被摄物体距离的方法
JP2009175279A (ja) * 2008-01-22 2009-08-06 Olympus Imaging Corp カメラシステム
CN102262333A (zh) * 2010-05-28 2011-11-30 索尼公司 成像装置、成像系统、成像装置的控制方法和程序
JP2012141436A (ja) * 2010-12-28 2012-07-26 Canon Inc 焦点検出装置およびその制御方法
CN103299227A (zh) * 2011-01-13 2013-09-11 株式会社理光 图像捕获设备和图像捕获方法
CN102681293A (zh) * 2011-03-07 2012-09-19 微软公司 具有折射光学元件的照明器
JP2013247543A (ja) * 2012-05-28 2013-12-09 Sony Corp 撮像装置、表示装置、および画像処理方法、並びにプログラム
CN108780262A (zh) * 2016-05-19 2018-11-09 深圳市大疆创新科技有限公司 基于目标检测的自动对焦初始化

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022213339A1 (zh) * 2021-04-09 2022-10-13 深圳市大疆创新科技有限公司 对焦方法、拍摄设备、拍摄系统以及可读存储介质

Also Published As

Publication number Publication date
US20220046177A1 (en) 2022-02-10
JP2020181028A (ja) 2020-11-05
WO2020216037A1 (zh) 2020-10-29
JP6768997B1 (ja) 2020-10-14

Similar Documents

Publication Publication Date Title
CN111567032B (zh) 确定装置、移动体、确定方法以及计算机可读记录介质
US20210105411A1 (en) Determination device, photographing system, movable body, composite system, determination method, and program
CN110809746A (zh) 控制装置、摄像装置、移动体、控制方法以及程序
CN112335227A (zh) 控制装置、摄像系统、控制方法以及程序
CN110337609B (zh) 控制装置、镜头装置、摄像装置、飞行体以及控制方法
CN112292712A (zh) 装置、摄像装置、移动体、方法以及程序
CN109844634B (zh) 控制装置、摄像装置、飞行体、控制方法以及程序
US20220046177A1 (en) Control device, camera device, movable object, control method, and program
US20220188993A1 (en) Control apparatus, photographing apparatus, control method, and program
WO2021031833A1 (zh) 控制装置、摄像系统、控制方法以及程序
US11265456B2 (en) Control device, photographing device, mobile object, control method, and program for image acquisition
CN111357271B (zh) 控制装置、移动体、控制方法
CN111226170A (zh) 控制装置、移动体、控制方法以及程序
WO2021052216A1 (zh) 控制装置、摄像装置、控制方法以及程序
WO2019080805A1 (zh) 控制装置、摄像装置、飞行体、控制方法以及程序
JP6878738B1 (ja) 制御装置、撮像システム、移動体、制御方法、及びプログラム
CN112313943A (zh) 装置、摄像装置、移动体、方法以及程序
CN111213369B (zh) 控制装置、方法、摄像装置、移动体以及计算机可读存储介质
WO2021249245A1 (zh) 装置、摄像装置、摄像系统及移动体
JP6569157B1 (ja) 制御装置、撮像装置、移動体、制御方法、及びプログラム
JP6805448B2 (ja) 制御装置、撮像システム、移動体、制御方法、及びプログラム
WO2021031840A1 (zh) 装置、摄像装置、移动体、方法以及程序
CN111615663A (zh) 控制装置、摄像装置、摄像系统、移动体、控制方法以及程序
CN114586336A (zh) 控制装置、摄像装置、控制方法以及程序
CN114600446A (zh) 控制装置、摄像装置、移动体、控制方法以及程序

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
AD01 Patent right deemed abandoned

Effective date of abandoning: 20221216

AD01 Patent right deemed abandoned