JP2000105435A - Image pickup unit with plural lens - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image pickup unit capable of executing a three- dimensional image photographing mode and a panoramatic photographing mode selectively without enlarging its size. SOLUTION: A panorama photographing interchangeable camera head part 11 and a three-dimensional image photographing interchangeable camera head part 12 are exchanged in accordance with a photographing mode at a camera head part 10. The panoramic photographing interchangeable camera head part 11 includes a pair of optical elements 11L and 11R, and respective optical elements 11L and 11R are composed of an off-axial optical system having plural reflection refracting surfaces. The three-dimensional image photographing interchangeable camera head part 12 includes a pair of the optical elements 12L and 12R, and respective optical elements 12L and 12R are composed of the off-axial optical system having the plural reflection refracting surfaces.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a compound eye imaging apparatus having a plurality of imaging systems.

[0002]

2. Description of the Related Art Conventionally, as a method of inputting a three-dimensional image of a subject, an imaging method using a compound eye imaging device having a plurality of imaging optical systems is known. According to this method, a subject is photographed by a plurality of imaging systems, for example, two left and right imaging systems, and a three-dimensional shape of the subject is grasped by parallax generated in right and left image portions of the subject photographed by the left and right imaging systems. It is. Such grasping of the three-dimensional shape is basically the same as grasping the shape of the subject in a three-dimensional shape by the parallax generated when a human captures the subject with the left and right eyes.

[0003] Regarding the photographing of this compound-eye imaging apparatus, the base line length (interval between the left and right imaging systems) and the convergence angle (the angle formed by the optical axes of the left and right imaging systems) when the subject is located far and near Is done. This is performed in order to secure the overlapping area and shoot when the subject is located far and near, since the overlapping area in the left and right images changes. For example, when the left and right imaging systems are arranged in parallel, the closer the subject is, the less the overlapping area becomes, and it is necessary to adjust the optical axis directions of the left and right imaging systems to secure this overlapping area and shoot. become. Further, when the distance between the two left and right imaging systems is short, parallax between the left and right images for a distant subject is lost and a sufficient stereoscopic effect cannot be obtained. Need to be longer.
As described above, when photographing with the compound-eye imaging device, adjusting the base line length and the convergence angle according to the subject are important technical elements.

Next, an image pickup optical system in the above-described compound eye image pickup apparatus will be described with reference to FIG. FIG. 14 is a diagram schematically illustrating an arrangement of an imaging optical system in a conventional compound eye imaging apparatus.

In a compound-eye imaging apparatus, as shown in FIG. 14, by moving the left and right imaging optical systems mechanically, the distance between each optical axis (base length) and the angle formed by each optical axis (convergence angle). ) Is used. Further, the compound-eye imaging device is configured to be able to capture a so-called panoramic image having a wider angle in the horizontal direction by using two or more imaging systems. At the time of this panoramic shooting, the plurality of imaging optical systems make the viewpoints substantially coincide with each other, and the overlapping area between the images required when connecting the captured images captured by each imaging optical system by image processing is reduced as much as possible. The optical systems are arranged such that they can capture different visual fields. Also at this time, the adjustment of the optical axis interval of each imaging optical system and the angle formed by each optical axis are mechanically performed.

On the other hand, recently, even in a non-coaxial optical system, by introducing the concept of a reference axis and forming an asymmetrical aspherical surface, it is possible to construct an optical system in which a sufficient aberration has been corrected. Kaihei 9-5650, JP-A-8-292371,
Each is disclosed in JP-A-8-292372. Japanese Patent Application Laid-Open No. 9-5650 discloses a design method thereof.
71 and Japanese Patent Application Laid-Open No. 8-292372 each show a design example thereof.

[0007] Such a non-coaxial optical system is called an off-axial optical system. When the off-axial optical system considers a reference axis along a ray passing through the center of the image and the center of the pupil, the off-axis optical system is referred to as an off-axis optical system. Is defined as an optical system including a curved surface (off-axial surface) where the surface normal at the intersection of is not on the reference axis, and the reference axis at this time has a bent shape. This off-axial optical system generally has a non-coaxial configuration surface and does not suffer from shaking even on a reflective surface, so that it can be easily constructed using an optical system using a reflective surface. In addition, the method has a feature that it is possible to form the optical path relatively freely, and it is possible to integrally form the constituent surfaces by using a method of integrally forming the constituent surfaces.

[0008]

However, in the above-described conventional compound-eye imaging apparatus, the convergence angle and the baseline length of the imaging optical system are changed by moving and rotating the imaging optical system. In the case of being constituted by an axial optical system, the entire device becomes large. In particular, at the time of panoramic imaging, it is necessary to make the left and right viewpoints substantially coincide (the base line length, which is the center distance between the entrance pupils of each imaging optical system, is made almost zero). When the convergence angle is equal to or larger than a predetermined angle, the lenses of the respective imaging optical systems may interfere with each other because the position cannot be made large toward the subject. As a result, there are restrictions such that the base line length cannot be made smaller than a predetermined length, or if the base line length is set to an appropriate length, the convergence angle cannot be increased.

[0009] When switching to panoramic imaging with a convergence angle in the imaging optical system, the "center viewpoint" of each of the left and right imaging optical systems (the "center viewpoint" is the subject of the reference axis of each imaging optical system). The extension point on the object side is referred to as the “center viewpoint” hereinafter), which is different from the ideal “center viewpoint” of the composite image. It is necessary to perform image processing to remove the apparent trapezoidal distortion due to the difference between the two.

An example in the case of performing this panoramic photographing will be described with reference to FIG. FIG. 15 is a diagram showing each image photographed by panoramic photographing by the conventional compound-eye imaging device and an ideal synthesis result of the image.

When performing panoramic photographing using two left and right imaging optical systems, a convergence angle is given to the left and right imaging optical systems as shown in FIG. When the convergence angle is given in this way, as shown in FIGS. 15B and 15C, the “center viewpoint” of each of the left and right imaging optical systems differs with respect to the object. That is, since the “center viewpoint” of each of the left and right imaging optical systems is different from the ideal “center viewpoint” of the composite image shown in FIG. 15D, when connecting the left and right captured images, the difference between the “center viewpoint” is different. It is necessary to perform image processing to remove the apparent trapezoidal distortion due to.
However, image quality may be degraded by this image processing.

An object of the present invention is to provide a compound-eye imaging apparatus capable of selectively executing a three-dimensional image photographing mode and a panoramic photographing mode without increasing the size of the apparatus.

[0013]

According to the first aspect of the present invention,
In a compound-eye imaging apparatus having a plurality of imaging systems, the plurality of imaging systems include an asymmetrical aspherical off-axial reflecting surface as a component and have at least one off-axial optical system block having a refractive power capable of forming a real image. Switching between the three-dimensional image shooting mode in which parallax is generated between the left and right imaging systems and the panorama shooting mode in which the viewpoints of the left and right imaging systems substantially match by exchanging the off-axial optical system block It is characterized by being configured to be possible.

According to a second aspect of the present invention, in the compound eye imaging apparatus according to the first aspect, the off-axial reflecting surface of the off-axial optical system block is formed of an aspheric surface which is symmetrical with respect to up and down and asymmetrical with respect to left and right. The off-axial optical system is characterized in that each of the left and right imaging systems is incorporated upside down.

The third aspect of the present invention provides the first or second aspect.
In the compound eye imaging apparatus described above, the off-axial optical system block is manufactured by molding.

The invention described in claim 4 is the first to third aspects of the present invention.
In the compound-eye imaging device according to any one of the above, the off-axial optical system block is formed with a plurality of reflection surfaces formed by surface reflection, and an incident light beam is repeatedly reflected by the reflection surface and emitted. And

[0017] The invention according to claim 5 is the invention according to claims 1 to 4.
In the compound-eye imaging apparatus according to any one of the above, when performing imaging in the panoramic imaging mode, the plurality of imaging systems form an image such that left and right inverted trapezoidal distortions occur. .

The invention according to claim 6 is the invention according to claims 1 to 5
In the compound eye imaging apparatus according to any one of the above, the plurality of imaging systems are each configured such that the incident-side reference axis and the emission-side reference axis are located on mutually different straight lines. .

The invention according to claim 7 provides the invention according to claims 1 to 6
In the compound-eye imaging device according to any one of the above, the plurality of imaging systems include a stop arranged immediately before the subject incident surface.

[0020] The invention according to claim 8 is the invention according to claims 1 to 7.
In the compound eye imaging apparatus according to any one of the above, the plurality of imaging systems perform at least one intermediate imaging in an optical path to a final exit surface.

According to a ninth aspect of the present invention, in the compound-eye imaging apparatus having a plurality of imaging systems, the plurality of imaging systems include an optical block for capturing a three-dimensional image which causes parallax between the left and right imaging systems, and a left and right imaging system. A three-dimensional optical block and a panoramic optical block, each of which includes an asymmetrical aspherical off-axial reflecting surface as a component and forms a real image. An off-axial optical system block having a refracting power capable of forming an image, and by switching between the three-dimensional imaging optical system block and the panoramic imaging optical system block, the three-dimensional image imaging mode and the panoramic imaging mode are switched. Is configured to be switchable.

According to a tenth aspect of the present invention, in the compound-eye imaging apparatus according to the ninth aspect, the three-dimensional image capturing optical system block and the panoramic capturing optical system block are arranged on the same plane. Features.

According to an eleventh aspect of the present invention, in the compound eye imaging apparatus of the ninth aspect, the three-dimensional image capturing optical system block and the panoramic capturing optical system block are stacked in parallel with a plane including a reference axis. It is characterized by having been done.

According to a twelfth aspect of the present invention, in the compound eye imaging apparatus according to the ninth aspect, the off-axial reflecting surface of the off-axial optical system block is formed of an aspherical surface which is symmetrical with respect to up and down and asymmetrical with respect to left and right. The off-axial optical system is characterized in that each of the left and right imaging systems is incorporated upside down.

According to a thirteenth aspect of the present invention, in the compound eye imaging apparatus according to any one of the ninth to twelfth aspects, the off-axial optical system block is manufactured by molding.

According to a fourteenth aspect of the present invention, in the compound eye imaging apparatus according to any one of the ninth to thirteenth aspects, the off-axial optical system block has a plurality of reflection surfaces formed by surface reflection, It is characterized in that an incident light beam is repeatedly reflected on the reflection surface and emitted.

According to a fifteenth aspect of the present invention, in the compound-eye imaging device according to any one of the ninth to fourteenth aspects, when photographing in the panoramic photographing mode, the plurality of imaging systems are respectively arranged in right and left reversed directions. An image is formed such that trapezoidal distortion occurs.

According to a sixteenth aspect of the present invention, in the compound-eye imaging device according to any one of the ninth to fifteenth aspects, the plurality of imaging systems are arranged such that the incident-side reference axis and the exit-side reference axis are different from each other. It is characterized by being configured so as to be located above.

According to a seventeenth aspect of the present invention, in the compound eye imaging apparatus according to any one of the ninth to sixteenth aspects, the plurality of imaging systems have a stop disposed immediately before the subject incident surface. It is characterized by.

[0030] According to an eighteenth aspect of the present invention, in the compound-eye imaging apparatus according to any one of the ninth to seventeenth aspects, the plurality of imaging systems are provided at least once in an optical path to a final exit surface. Is performed.

According to a nineteenth aspect of the present invention, in the compound-eye imaging apparatus having a plurality of imaging systems, each of the plurality of imaging systems includes an asymmetrical aspherical off-axial reflecting surface as a component and can form a real image. A three-dimensional image capturing optical path having at least one off-axial optical system block having a high refractive power, causing a parallax between the left and right imaging systems in the off-axial optical system block, and a viewpoint of the left and right imaging systems. By providing an optical path for panoramic photography to be substantially matched and rotating the off-axial reflecting surface in the off-axial optical system to switch between the optical path for three-dimensional image photography and the optical path for panoramic photography,
It is characterized in that it is configured to be able to switch between a two-dimensional image shooting mode and the panoramic shooting mode.

According to a twentieth aspect of the present invention, in the compound eye imaging apparatus according to the nineteenth aspect, the off-axial reflecting surface of the off-axial optical system block is formed of an aspherical surface which is symmetrical with respect to the top and bottom and asymmetric with respect to the left and right. The off-axial optical system is characterized in that each of the left and right imaging systems is incorporated upside down.

According to a twenty-first aspect of the present invention, in the compound eye imaging apparatus according to the nineteenth or twentieth aspect, the off-axial optical system block is manufactured by molding.

According to a twenty-second aspect of the present invention, in the compound eye imaging apparatus according to any one of the nineteenth to twenty-first aspects,
The off-axial optical system block has a plurality of reflection surfaces formed by surface reflection, and an incident light beam is repeatedly reflected on the reflection surface and emitted.

According to a twenty-third aspect of the present invention, in the compound eye imaging apparatus according to any one of the nineteenth to twenty-second aspects,
When shooting in the panoramic shooting mode, the plurality of imaging systems form images such that left and right inverted trapezoidal distortions occur.

According to a twenty-fourth aspect of the present invention, in the compound eye imaging apparatus according to any one of the nineteenth to twenty-third aspects,
The plurality of imaging systems are each configured such that the incident-side reference axis and the emission-side reference axis are located on mutually different straight lines.

According to a twenty-fifth aspect of the present invention, in the compound eye imaging apparatus according to any one of the nineteenth to twenty-fourth aspects,
The plurality of image pickup systems have a stop disposed immediately before a subject incident surface.

According to a twenty-sixth aspect of the present invention, in the compound eye imaging apparatus according to any one of the nineteenth to twenty-fifth aspects,
The plurality of imaging systems perform at least one intermediate imaging in an optical path up to a final exit surface.

[0039]

Embodiments of the present invention will be described below with reference to the drawings.

(First Embodiment) FIG. 1 is a block diagram showing a configuration of a first embodiment of a compound eye imaging apparatus according to the present invention.

As shown in FIG. 1, the compound-eye imaging apparatus includes a compound-eye camera head unit 10 having a plurality of image-capturing systems, capturing an image of a subject with each of the image-capturing systems, and outputting an image signal of the captured subject. By exchanging the compound-eye camera head unit 10 or exchanging some components thereof, it becomes possible to switch between the three-dimensional image photographing mode and the panoramic photographing mode. In the present embodiment, the left and right two imaging systems are incorporated in the compound-eye camera head unit 10.

The compound-eye camera head unit 10 or a part of its component attached to the switching of the photographing mode is recognized by the camera head identification unit 50. Specifically, the camera head recognizing means 50 recognizes the mounted compound-eye camera head unit 10 or a part thereof, and outputs a recognition signal indicating the recognition result to a system controller 80 described later.

Exposure control for the compound-eye camera head unit 10 is performed by exposure control means 30. Exposure control means 30
Controls the drive related to the exposure adjustment in the left and right imaging systems of the compound-eye camera head unit 10 according to the brightness of the subject. Focus control for the compound-eye camera head unit 10 is performed by the focus control unit 40. The focus control means 40 controls the driving of the compound-eye camera head unit 10 with respect to the focusing of the left and right imaging systems. The control by the focus control means 40 and the exposure control means 30
As will be described later, this is performed in accordance with an instruction signal from the system controller 80, respectively.

The image signal output from the compound-eye camera head 10 is input to the signal processing means 20 and
Reference numeral 0 denotes an information signal used for focus position control and exposure control based on the input image signal by subjecting the input image signal to image signal processing such as JPEG to convert the image signal into image data of a predetermined format. Generate The image data and the information signal are input to the system controller 80. The system controller 80 stores the input image data in the memory 70 as necessary, and processes a predetermined image. In addition, the system controller 80
An instruction signal for the exposure control means 30 and the focus control means 40 is generated based on the input information signal. Further, the system controller 80 receives a recognition signal from the camera head recognition means 50, recognizes that the corresponding photographing mode can be executed based on the recognition signal, and performs corresponding control.

A release button 60 for instructing the start of photographing is connected to the system controller 80. When the release button 60 is pressed, the system controller 80 generates a signal for instructing start of photographing and outputs the signal to the corresponding block.

Next, the configuration of the compound-eye camera head unit 10 will be described with reference to FIGS. 2 is a diagram illustrating a detailed configuration of a compound-eye camera head unit in each shooting mode of the compound-eye imaging device of FIG. 1, and FIG. 3 is a diagram illustrating a configuration of an object-side optical element of the compound-eye camera head unit in each shooting mode of FIG. FIG. 4 is a diagram showing the configuration of the image-side optical element of the compound-eye camera head in each shooting mode of FIG.

In the compound-eye camera head section 10, an exchange camera head section 11 for panoramic photography shown in FIG. 2A and an exchange camera head section for three-dimensional image photography shown in FIG. 12 is exchanged. When selecting the panoramic imaging mode, the replacement camera head 11 for panoramic imaging shown in FIG. 2A is incorporated in the front part (subject side position) of the compound-eye camera head 10. The replacement camera head unit 11 for panoramic photography includes a holding member 1
7 includes a pair of optical elements 11L and 11R, each of which has a plurality of catadioptric surfaces and forms an off-axial optical system made of a transparent material such as glass. Specifically, on the surface of the optical element 11R, as shown in FIG. 3A, a concave refractive surface (incident surface) r11 having a negative refractive power, in the order of passage of light rays from the subject,
A reflection surface r12, a reflection surface r13, and a convex refraction surface (exit surface) r14 having a positive refractive power are formed. Each refraction surface r1
1, r14 are formed in a spherical shape, and each of the reflection surfaces r12, r
Reference numeral 13 has symmetry in the direction perpendicular to the paper surface, but has no symmetry in the paper surface and has a rotationally asymmetric aspherical shape as a whole. The optical element 11L has a symmetrical shape with respect to the optical element 11R, and similarly has a concave refraction surface (incident surface).
And two reflective surfaces and a convex refraction surface (exit surface).
Therefore, it is possible to configure the optical element 11L by incorporating the same optical element as the optical element 11R upside down in the direction perpendicular to the paper surface.

Each of the optical elements 11L and 11R can be manufactured by integral molding of plastic or glass. Therefore, if each optical element is formed by molding integrally with the molding conditions kept constant, the variation in this optical element will be smaller than that in a conventional lens in which a lens is incorporated into a lens barrel. A compound-eye imaging optical system having a small difference can be configured.

A stop 14 for regulating the amount of incident light is provided at a position in front of each of the optical elements 11L and 11R (position on the subject side).
The aperture 14 is held by a holding member 17. The holding member 17 is detachably attached to the base 22.

As described above, the interchangeable camera head unit 11 for panoramic photography includes the aperture 14 and the optical elements 11L and 11R.
And the holding member 17. By attaching the holding member 17 to the base 22, the replacement camera head unit 11 for panoramic photography can be incorporated into the compound-eye camera head unit 10.

As shown in FIG. 2A, optical elements 13L and 13R are arranged at a position behind the exchangeable camera block section 11 for panoramic photography. Each optical element 13
L and 13R have a plurality of catadioptric surfaces and are made of a transparent material such as glass. As shown in FIG. 4, on the surface of the optical element 13R, a convex refracting surface (incident surface) r31 having a positive refracting power and a reflecting surface r3 are arranged in the order of passage of light rays from the subject.
2. A reflection surface r33 and a convex refraction surface (exit surface) r34 having a positive refractive power are formed. Each refraction surface r31, r34
Is formed in a spherical shape, and the respective reflecting surfaces r32 and r33 have symmetry in the direction perpendicular to the paper surface, but have no symmetry in the paper surface and have a rotationally asymmetric aspherical shape as a whole. The optical element 13L has a symmetrical shape with respect to the optical element 13R, and similarly has a convex refracting surface (incident surface), two reflecting surfaces, and a convex refracting surface (exit surface). Therefore, it is possible to configure the optical element 13L by incorporating the same optical element as the optical element 13R upside down in the direction perpendicular to the paper surface. Each of the optical elements 13L and 13R can be manufactured by integral molding of plastic or glass. If the optical elements are produced by integral molding with the molding conditions kept constant, the optical elements 11L and 1R can be manufactured.
As in 1R, a compound-eye imaging optical system having a small left-right difference in imaging performance can be configured. Each optical element 13L,
13R is held by the holding member 21. The holding member 21 is movably held on a base 22. Specifically, the holding member 21 is configured to be movable along a pair of guide grooves 23 formed on the base 22. By the movement of the holding member 21, it is possible to adjust the image forming position by each of the optical elements 13L and 13R. That is,
The focus position is adjusted by moving the holding member 21.

Image pickup devices 16L and 16R such as CCDs are arranged at positions where the light beams emitted from the optical elements 13L and 13R form images. Each image sensor 16
L and 16R are fixed to the base 22. The imaging element 16L includes an aperture 14, an optical element 11L, and an optical element 13.
The left imaging system is configured in cooperation with L, and the imaging device 16R
The right imaging system is configured in cooperation with the stop 14, the optical element 11R, and the optical element 13R.

When selecting the three-dimensional image photographing mode, the three-dimensional image photographing replacement camera head 12 shown in FIG. 2B is incorporated in the front part (subject side position) of the compound eye camera head 10. This interchangeable camera head unit for three-dimensional image capturing 12 includes a pair of optical elements 12L and 12R. Each of the optical elements 12L and 12R has a plurality of catadioptric surfaces and is made of a transparent material such as glass. Form an axial optical system. Specifically, on the surface of the optical element 12R, as shown in FIG. 3B, a concave refraction surface (incident surface) r21 having a negative refracting power is arranged in the order of passage of light rays from the subject.
A reflection surface r22, a reflection surface r23, and a convex refraction surface (exit surface) r24 having a positive refractive power are formed. Each refraction surface r2
1, r24 are formed in a spherical shape, and each of the reflection surfaces r22, r
Reference numeral 23 has symmetry with respect to the direction perpendicular to the paper, but has no symmetry in the paper and has a rotationally asymmetric aspherical shape as a whole. The optical element 12L has a symmetrical shape with respect to the optical element 12R, and similarly has a concave refracting surface (incident surface).
And two reflective surfaces and a convex refraction surface (exit surface).
Therefore, it is possible to configure the optical element 12L by incorporating the same optical element as the optical element 12R upside down in the direction perpendicular to the paper surface. Each optical element 12L, 12R
Are held by holding members 18L and 18R, respectively.

Each of the optical elements 12L and 12R, like the optical elements 11L and 11R, can be manufactured by integral molding of plastic, glass, or the like, and constitutes a compound-eye imaging optical system having a small left-right difference in imaging performance. can do.

Stops 15L and 15R for regulating the amount of incident light are arranged at the front positions (subject positions) of the optical elements 12L and 12R, respectively.
R is held by holding members 18L and 18R, respectively. Each of the holding members 18L and 18R is rotatably held by the holding member 19. Specifically, each holding member 18
L and 18R are cam grooves 24 formed in the holding member 19.
It is configured to be rotatable around points CL and CR in the figure while being guided by L and 24R, and the convergence angle is changed by rotation of each of the holding members 18L and 18R. Here, the CL and CR points are points located at the center of curvature of the convex refraction surfaces (exit surfaces) of the optical elements 12L and 12R. In addition, each holding member 18
L and 18R are abutted against the holding member 21 via a spring member (not shown), and are configured to rotate in conjunction with the movement of the holding member 21 along the groove 23. That is, in the three-dimensional image capturing mode, the convergence angle can be automatically changed according to the subject distance.

As described above, the interchangeable camera head unit for three-dimensional image capturing is composed of the apertures 15L and 15R, the optical elements 12L and 12R, the holding members 18L and 18R, and the holding member 19, The holding member 19 is detachably attached to the base 22. Therefore, by attaching the holding member 19 to the base 22,
The interchangeable camera head 12 for three-dimensional image capturing can be incorporated into the compound-eye camera head 10, and the stop 15L, the optical element 12L, the optical element 13L, and the image sensor 16L cooperate with each other to form a left image pickup system. The stop 15R, the optical element 12R, the optical element 13R, and the imaging element 16R cooperate with each other to form a right imaging system.

As described above, it is possible to perform photographing in the panoramic photographing mode by incorporating the interchangeable camera block unit 11 for panoramic photographing into the compound-eye camera head 10, and it becomes possible to perform photographing in the panoramic photographing mode.
Incorporating 2 makes it possible to perform shooting in a three-dimensional image shooting mode.

Next, the optical path in each shooting mode will be described with reference to FIGS. FIG. 5 is a diagram illustrating an optical path in the compound-eye camera head unit in the panoramic shooting mode, and FIG. 6 is a diagram illustrating an optical path in the compound-eye camera head unit in the three-dimensional image shooting mode.

In the panoramic photographing mode, as described above, the interchangeable camera block 11 for panoramic photographing is incorporated in the compound-eye camera head 10. In the present embodiment, a path through which a light beam (reference axis light beam) that passes through the center of the effective beam diameter of the stop 14 and reaches the center of the final image forming surface is refracted and reflected by each refraction surface and reflection surface is set as a reference axis. ing. Here, the image forming action of the left and right imaging systems in the panorama shooting mode will be described using the right imaging system as an example. As shown in FIG. 5, the luminous flux incident from the subject enters the incident surface r11 of the optical element 11R after the amount of incident light is regulated by the stop 14, and the incident luminous flux is reflected by the reflecting surfaces r12 and r13.
Then, the light is emitted from the emission surface r14. here,
At the position near the reflecting surface r13, the subject image is formed once (intermediate image). The reason why the intermediate image is formed in the vicinity of the reflecting surface r13 is to converge the light flux incident from the incident surface r11 on the reflecting surface r12 so that the optical system does not become large. Contribute.

Then, the light beam emitted from the exit surface r14 enters the entrance surface r31 of the optical element 13R and is reflected by the reflection surface r14.
After being reflected at 32 and r33, the light exits from the exit surface r34 and forms an image on the imaging surface of the image sensor 16R. At this time,
The optical elements 11R and 12R are configured such that the reference axes on which they enter are crossed by the stop 14. With this configuration, the viewpoints of the left and right imaging systems can be substantially matched. However, in the example shown in FIG. 15, the left imaging system captures the right imaging range and the right imaging system captures the left imaging range. In general, adopting a “front aperture” type in which an aperture is arranged at a position closest to a subject in an off-axial optical system has an advantage that the optical system can be easily made compact. Such a “front stop” type is an optical system type suitable for configuring a panoramic photographing mode in which the left and right entrance pupil positions of the compound-eye optical system are matched. Therefore, by using the “front aperture” type off-axial optical system, it is possible to configure a compound-eye imaging apparatus capable of performing a compact panoramic imaging mode, which is difficult to configure with a coaxial optical system.

Although the description of the optical path for the left image pickup system is omitted, the incident light beam is also symmetrical to the right image pickup system in the left image pickup system, but passes through the same path as the image pickup device 16.
An image is formed on L.

Next, the optical path in the three-dimensional image capturing mode will be described. In the three-dimensional image capturing mode,
As described above, the three-dimensional image capturing replacement camera block unit 12 is incorporated in the compound eye camera head 10.
Here, the image forming operation of the left and right imaging systems in the three-dimensional image capturing mode will be described using the right imaging system as an example.

In the case where the subject is at a short distance, FIG.
As shown in (a), first, the focus position is adjusted by the optical elements 13L and 13R by moving the holding member 21. Each of the holding members 18L and 18R is rotated in conjunction with the movement of the holding member 21, and the convergence angle is set to each of the holding members 1
The angle is set according to the rotation angles of 8L and 18R. In the right imaging system, the luminous flux incident from the subject is
Optical element 12R after the amount of incident light is regulated by 5R
Is incident on the incident surface r21, and the incident light flux is reflected by the reflecting surface r2.
2. After being reflected by r23, the light exits from the exit surface r24. Here, the subject image is formed once (intermediate image) at a position near the reflecting surface r23. The reason why the intermediate image is formed near the reflecting surface r23 is to converge the light beam incident from the incident surface r21 on the reflecting surface r22 so that the optical system does not become large. Contribute.

The light beam emitted from the exit surface r24 enters the entrance surface r31 of the optical element 13R, and is reflected by the reflection surface r24.
After being reflected at 32 and r33, the light exits from the exit surface r34 and forms an image on the imaging surface of the image sensor 16R. Although the description of the optical path of the left imaging system is omitted, the incident light flux is also left-right symmetric with the right imaging system in the left imaging system, but forms an image on the imaging device 16L through the same path.

On the other hand, when the subject is at a long distance, the focus position is adjusted by the optical elements 13L and 13R by moving the holding member 21 as shown in FIG. 6B. The holding members 18L and 18R are rotated in conjunction with the movement of the holding member 21, and the convergence angle is set to an angle corresponding to the rotation angle of each of the holding members 18L and 18R. This convergence angle has a smaller value, unlike the convergence angle when the subject is at a short distance. When the distance to the subject is sufficiently long, the convergence angle is set to substantially zero, and the reference axes of the left and right imaging systems are parallel to each other. As described above, the light beam incident from the subject with the convergence angle set to an appropriate angle according to the subject distance passes through the same path as when the subject is at a short distance, and passes through the imaging devices 16L and 16R.
Is formed on the imaging surface of.

As described above, in the three-dimensional image capturing mode, the off-axial optical system is used for the optical elements 12L, 12R, 13L, 13R even if the distance between the imaging elements 16L, 16R is short. The center-to-center distance of 15R, that is, the base line length can be increased, and even when the convergence angle becomes large as in the case of close-up shooting, the left and right optical elements 18L and 18R in the interchangeable camera block unit for three-dimensional image shooting 12 , A compact device configuration that does not interfere with each other can be obtained.

Next, the operation of the present apparatus will be described. All operations are performed under the control of the system controller 80 unless otherwise specified.

First, when the release button 60 is pressed and a release signal is issued, the camera head identifying means 50 is activated.
By this, it is determined which of the replacement camera head for the panoramic shooting mode and the replacement camera head for the three-dimensional image shooting mode is incorporated in the compound-eye camera head unit 10,
Recognition of the panoramic photographing mode or the three-dimensional image photographing mode is performed from the identification signal. The recognition result is stored in the memory 70.
Is stored in

Next, focus control is performed. In this focus control, the imaging devices 16L of the left and right imaging systems,
The phase difference at the center of the left and right image data obtained after the signal processing on the image signal from 16R is detected, and the detected phase difference is provided to the focus control means 40. The focus control unit 40 estimates the subject distance based on the given phase difference, and moves the holding member 21 to a position corresponding to the estimated subject distance. That is, the optical elements 13L,
By moving 13R, the focus position is adjusted with respect to the left and right imaging systems. Here, the compound-eye camera head unit 1
When the camera head 12 for three-dimensional image capturing is incorporated in
The holding members 18 </ b> L and 18 </ b> R are rotated in conjunction with the movement of 1, and the convergence angle is adjusted to an angle corresponding to the subject distance.

Next, exposure control is performed. In this exposure control, first, the imaging devices 16L and 16R of the left and right imaging systems
The brightness of each subject is detected from the left and right image data obtained after the signal processing of the image signal from the camera, and the exposure control means 30 determines and determines the aperture amount and the shutter speed based on the detected brightness. Aperture 1 with aperture amount
4 or the diaphragms 15L and 15R are driven. Further, exposure is performed on the imaging elements 16L and 16R at the determined shutter speed.

When the recognition of the photographing mode, the focus control, and the exposure control are completed, the respective image signals obtained by the image pickup devices 16L and 16R of the left and right image pickup systems are input to the signal processing means 20, and the signal processing is performed. The means 20 converts each input image signal into image data, performs a corresponding process on the image data based on the recognition result for the shooting mode, and stores the processed image data in the memory 70.

As described above, in this embodiment, the replacement camera head 11 for panoramic photography, the replacement camera head 12 for three-dimensional photography, and the optical element 1 of the off-axial optical system are used.
1L, 11R, 12L, and 12R, the parallax is generated between the left and right imaging systems by exchanging the exchangeable camera head unit 11 for panoramic imaging and the exchangeable camera head unit 12 for three-dimensional imaging. Dimensional image shooting mode,
Since the configuration can be switched between the panoramic shooting mode in which the viewpoints of the left and right imaging systems are substantially matched, the size of the apparatus can be easily reduced.

In the interchangeable camera head section 12 for taking a three-dimensional image, the optical element 12
Since L and 12R are configured to be rotated, the convergence angle can be easily adjusted to an appropriate convergence angle according to the subject distance.

In this embodiment, each of the left and right image pickup systems is composed of four optical elements. However, each of the optical elements 11L and 11 in the interchangeable camera head unit 11 for panoramic photographing is used.
One optical element integrating R can be used, and one optical element integrating each of the optical elements 13L and 13R can be used.

In this embodiment, each of the optical elements 11L, 11R, 12L, 12R,
Although off-axial optical systems are used for 13L and 13R, the degree of freedom of the arrangement of the incident reference axis and the exit reference axis of the off-axial optical system can be realized by including the off-axial optical system in the optical system. Therefore, it is also possible to configure any one of the optical elements with a conventional coaxial optical system.

Further, in the present embodiment, the optical element 11
As L, 11R, 12L, 12R, 13L, 13R,
Although an optical block having an asymmetrical aspherical off-axial reflecting surface and a plurality of refractive powers has been illustrated, examples of the off-axial optical system having an off-axial reflecting surface include JP-A-8-292371 and JP-A-8-292372.
As shown in the above, a hollow type optical system block composed of all reflecting surfaces can also be used.

Further, in the present embodiment, the switching configuration between the three-dimensional image photographing mode in which parallax occurs in the left and right imaging systems and the panorama photographing mode in which the viewpoints of the left and right imaging systems are substantially matched has been described. It is also possible to prepare a shooting mode, for example, a replacement camera head for high-quality shooting, and select the high-quality shooting mode. In this case, the replacement camera head for high-quality shooting is configured such that the left and right shooting ranges are slightly shifted, and predetermined processing is performed on the left and right images captured using the replacement camera head for high-quality shooting. In addition, it is possible to select a high-quality shooting mode in which a high-quality image can be obtained even when a low-pixel image sensor is used.

Second Embodiment Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 7 is a block diagram showing a configuration of a second embodiment of the compound-eye imaging device of the present invention, FIG. 8 is a diagram showing a switching configuration of each optical system block in a compound-eye camera head unit of the compound-eye imaging device of FIG. FIG. 8 is a diagram showing a switching configuration of each optical system block of another compound-eye camera head unit applied to the compound-eye imaging device of FIG. 7. Note that the same blocks and members as those in the first embodiment described above are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 7, the compound-eye image pickup apparatus includes a compound-eye camera head unit 101 having a plurality of image pickup systems, picking up an image of a subject with each image pickup system, and outputting an image signal of each picked-up object. Specifically, the compound-eye camera head unit 1
Numeral 01 includes an optical block for panoramic imaging that substantially matches the viewpoints of the left and right imaging systems, and an optical block for three-dimensional image imaging that causes parallax between the left and right imaging systems. It is configured to be switchable with the image capturing optical system block. The switching between the panoramic imaging mode and the three-dimensional image imaging mode is performed by the switching of the optical system block. The switching of the optical system block is performed by the element switching unit 105. The element switching unit 105 switches to the corresponding optical system block based on an instruction from the system controller 80.
The configuration for switching the optical system block will be described later.

The exposure control for the compound-eye camera head unit 101 is performed by the exposure control unit 30, and the focus control for the compound-eye camera head unit 101 is performed by the focus control unit 40.

The image signal output from the compound-eye camera head unit 101 is input to the signal processing means 20. The signal processing means 20 performs image signal processing such as JPEG on the input image signal and converts the image signal into a predetermined format. The image signal is converted into image data, and an information signal used for focus adjustment control and exposure control is generated based on the input image signal. The image data and information signal are transmitted to the system controller 80.
Is input to The system controller 80 stores the input image data in the memory 70 as necessary, and processes a predetermined image. Also, the system controller 80
Generates an instruction signal to the exposure control means 30 and the focus control means 40 based on the input information signal. The system controller 80 is connected to a release button 60 for instructing start of photographing, and a 3D-panorama switch 90 for instructing switching to a three-dimensional image photographing mode or a panoramic photographing mode. 3D-Panorama switch 90
When switching to the two-dimensional image capturing mode or the panoramic capturing mode is instructed, the system controller 80 instructs the element switching unit 105 to perform switching to the optical system block corresponding to the designated capturing mode.

Next, the configuration of the compound-eye camera head unit 101 will be described with reference to FIG.

In the compound-eye camera head unit 101, an optical system block for panoramic photographing,
The three-dimensional image capturing optical system block is switched.
The panoramic imaging optical system block includes a stop 14, two optical elements 11L and 11R, and a holding member (not shown) that supports them. The three-dimensional image capturing optical system block includes two stops 15L and 15R, optical elements 12L and 12R, and a holding member (not shown) that supports them. Note that the detailed configuration of each optical system block (including the configuration of each optical element) is substantially the same as the configuration in the above-described first embodiment, and a description thereof will be omitted.

The optical system block for panoramic photographing and the optical system block for three-dimensional image photographing are each configured to be movable along a plane including a reference axis.
Is moved in accordance with the selected shooting mode.

When the panoramic photographing mode is selected, as shown in FIG. 8A, the optical system block for panoramic photographing is positioned in front of each of the optical elements 13L and 13R. In this state, the stop 15L and the optical element 12L that constitute the left imaging system of the three-dimensional image capturing optical system block are located at the left position of the optical element 11L of the panoramic imaging optical system block, and the aperture that constitutes the right imaging system. 1
The optical element 5R and the optical element 12R are retracted to the right of the optical element 11R. The optical path in this panorama shooting mode is the same as in the first embodiment, and a description thereof will be omitted.

When switching to the three-dimensional image photographing mode is instructed while the panoramic photographing mode is selected, FIG.
As shown in (b), the panoramic imaging optical system block is moved forward (subject side) and retracted to a predetermined position. Next, the stop 15L and the optical element 12L, which form the left imaging system of the three-dimensional image capturing optical system block, are moved rightward and held at a position that has a predetermined positional relationship with the optical element 13L. When switching from the three-dimensional image capturing mode to the panoramic capturing mode is instructed, switching from the three-dimensional image capturing mode to the panoramic capturing mode is performed by performing an operation reverse to the above operation.

The optical path when the three-dimensional photographing mode is selected is the same as in the first embodiment, and the description is omitted. The configuration for changing the convergence angle according to the subject distance is also the same as in the first embodiment described above, and description thereof will be omitted.

As described above, by switching between the panoramic photographing optical system block and the three-dimensional photographing optical system block to switch between the panoramic photographing mode and the three-dimensional image photographing mode, the size of the apparatus can be reduced. It can be done easily.

In this embodiment, switching between the panoramic imaging optical system block and the three-dimensional imaging optical system block is performed by moving each optical system block along a plane including the reference axis. Although the configuration is used, other switching methods can be used without being limited to this switching method.

One of the other switching methods will be described with reference to FIG.

In this example, an optical system block for panoramic photography and an optical system block for three-dimensional image photography are stacked in the direction perpendicular to the plane including the reference axis, and the optical system block for panoramic photography and the optical system for three-dimensional image photography are stacked. The panoramic shooting mode and the three-dimensional image shooting mode are switched by moving the system block in a direction perpendicular to the plane including the reference axis. The optical system block for panoramic photographing includes an aperture 14 and 2
The three-dimensional image capturing optical system block includes two optical elements 11L and 11R and a holding member (not shown) that supports them, and includes two stops 15L and 15R, optical elements 12L and 12R, and And a holding member (not shown) for supporting.

When the panoramic photographing mode is selected, as shown in FIG. 9A, each optical element is arranged so that the optical system block for panoramic photographing has a predetermined positional relationship with respect to each of the optical elements 13L and 13R. It is positioned at the front position of 13L, 13R. In this state, the three-dimensional image capturing optical system block is retracted to a position above a plane including the reference axis.

When switching to the three-dimensional image photographing mode is instructed while the panoramic photographing mode is selected, FIG.
As shown in (b), the three-dimensional image capturing optical system block is moved in the direction perpendicular to the plane including the reference axis, and
3L and 13R are held at positions that have a predetermined positional relationship. With the movement of the three-dimensional image photographing optical system block, the panoramic photographing optical system block is moved and evacuated to a position below a plane including the reference axis.

As described above, the panoramic shooting mode and the three-dimensional image shooting mode are switched by moving the panoramic shooting optical system block and the three-dimensional shooting optical system block in the direction perpendicular to the plane including the reference axis. It can be configured as follows.

(Third Embodiment) Next, a third embodiment of the present invention will be described with reference to FIGS. FIG. 10 is a block diagram showing a configuration of a third embodiment of the compound eye imaging apparatus of the present invention, and FIG. 11 is a diagram showing a switching configuration of each optical system block in the compound eye camera head of the compound eye imaging apparatus of FIG. Note that the same blocks and members as those in the first embodiment described above are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 10, the compound-eye image pickup apparatus has a plurality of image pickup systems, and includes a compound-eye camera head unit 111 that picks up an image of a subject with each image pickup system and outputs an image signal of the picked-up subject. Specifically, the compound-eye camera head unit 111 has an off-axial optical system block, and a three-dimensional image capturing optical path that causes parallax between the left and right imaging systems in the off-axial optical system block; The optical path for panoramic imaging that substantially matches the viewpoint of is provided, and the off-axial reflecting surface in the off-axial optical system is rotated to switch between the optical path for three-dimensional image capturing and the optical path for panoramic imaging. It is configured to be able to switch between the panorama shooting mode.

The switching of the optical path is performed by the optical path switching means 15.
1 is performed. The optical path switching unit 151 switches to a corresponding optical path based on an instruction from the system controller 80. The configuration of this optical path switching will be described later.

The exposure control for the compound-eye camera head unit 111 is performed by the exposure control unit 30, and the focus control for the compound-eye camera head unit 111 is performed by the focus control unit 40.

The image signal output from the compound-eye camera head unit 111 is input to the signal processing means 20. The signal processing means 20 performs image signal processing such as JPEG on the input image signal and converts the image signal into a predetermined format. The image signal is converted into image data, and an information signal used for focus adjustment control and exposure control is generated based on the input image signal. The image data and the information signal are transmitted to the system controller 80.
Is input to The system controller 80 stores the input image data in the memory 70 as necessary, and processes a predetermined image. Also, the system controller 80
Generates an instruction signal to the exposure control means 30 and the focus control means 40 based on the input information signal. The system controller 80 is connected to a release button 60 for instructing the start of photographing, and a 3D-panoramic changeover switch 90 for instructing switching to a three-dimensional image photographing mode or a panoramic photographing mode. 3D-Panorama switch 90
When switching to the two-dimensional image capturing mode or the panoramic capturing mode is instructed, the system controller 80 instructs the optical path switching unit 151 to switch to the optical path corresponding to the instructed capturing mode.

Next, the configuration of the compound-eye camera head unit 111 will be described with reference to FIG.

As shown in FIG. 11, the compound-eye camera head section 111 has optical elements 25L and 25R for forming a light path for panoramic photographing and a light path for three-dimensional image photographing, and is provided at a position in front of it (subject-side position). And mirrors 26 </ b> L and 26 </ b> R for switching the optical path, which are disposed in a planar shape.
L and 26R are rotationally driven by an optical path switching unit 151, and the rotation of the mirrors 26L and 26R switches between the optical path for panoramic imaging and the optical path for three-dimensional image imaging.
Each of the optical elements 25L and 25R is an off-axial optical system element having a plurality of reflection and refraction surfaces. Specifically, as shown in FIG. 11B, the surfaces of the optical element 25R are formed with reflection surfaces r41 and r44 and refraction surfaces r42 and r43. Each of the refraction surfaces r42 and r43 is formed in a spherical shape, and each of the reflection surfaces r41 and r44 has symmetry with respect to the direction perpendicular to the paper surface, but has no symmetry in the paper surface and has a rotationally asymmetric aspherical shape as a whole. Become. Optical element 2
5L has a symmetrical shape with respect to the optical element 25R,
Similarly, it has two reflecting surfaces and two refracting surfaces. Therefore, it is possible to configure the optical element 25L by incorporating the same optical element as the optical element 25R upside down in the direction perpendicular to the paper surface.

In front of the optical elements 25L and 25R (subject-side position), a stop 27 provided for a panoramic image taking optical path and two stops 28L and 28R provided for a three-dimensional image taking optical path are provided. Are located.

Each of the optical elements 13L and 13R is disposed at a position behind the optical elements 13L and 13R, and the position at which the light emitted from each of the optical elements 13L and 13R forms an image is located at the rear position. Elements 16L and 16R are arranged.

Next, the optical path in each shooting mode will be described with reference to FIG.

In the panoramic shooting mode, each mirror 26
L and 26R are driven so as to be at a predetermined rotation angle position. Here, the image forming action of the left and right imaging systems in the panoramic shooting mode will be described using the right imaging system as an example.
As shown in (a), the luminous flux incident from the subject, after the amount of incident light is regulated by the aperture 27, is changed to the optical element 25R.
Of the mirror 26, the reflected light is reflected by the mirror 26
After being reflected by R, the optical element 13R passes through the refraction surface r42.
Incident on. The light beam incident on the optical element 13R exits via the same path as in the first embodiment described above, and
An image is formed on the imaging surface of 6R. Although the description of the optical path of the left imaging system is omitted, in the left imaging system, the incident light flux is symmetrical to the right imaging system but forms an image on the imaging device 16L via the same path.

Next, the optical path in the three-dimensional image capturing mode will be described. Here, the image forming operation of the left and right imaging systems in the three-dimensional image capturing mode will be described using the right imaging system as an example. In the three-dimensional image capturing mode, FIG.
As shown in (b), each of the mirrors 26L and 26R is driven to rotate and is held at a corresponding angular position.

In the right imaging system, a light beam incident from a subject is surface-reflected by the reflecting surface r44 of the optical element 25R after the amount of incident light is regulated by the stop 28R, and the reflected light beam is reflected by the mirror 26R. Refraction surface r43
Inject from The light beam emitted from the refraction surface r43 is incident on the optical element 13R, and the incident light beam is the first light beam of the above-described first embodiment.
The light is emitted through the same path as that of the embodiment, and forms an image on the imaging surface of the imaging element 16R. Although the description of the optical path for the left imaging system is omitted, the incident light flux is also symmetrical to the right imaging system in the left imaging system, but forms an image on the imaging element 16L through the same path.

As described above, the rotation of the mirrors 28L and 28R switches the optical path for panoramic photography and the optical path for three-dimensional image photography, and the optical path switching switches between the panoramic photography mode and the three-dimensional image photography mode. Can be easily reduced in size.

In this embodiment, the mirror 28L,
Although 28R has a planar shape, a curved mirror may be used.

In this embodiment, the off-axial optical system is used for each of the optical elements 13L and 13R constituting the left and right imaging systems. However, the arrangement of the incident reference axis and the emission reference axis of the off-axial optical system is described. Since the degree of freedom can be realized by including an off-axial optical system in the optical system, each of the optical elements 13L and 13R can be configured by a conventional coaxial optical system.

(Fourth Embodiment) Next, a fourth embodiment of the present invention will be described with reference to FIGS. FIG. 12 is a diagram showing a configuration of a compound-eye camera head unit according to a fourth embodiment of the compound-eye imaging device of the present invention.
FIG. 13 is a diagram illustrating a shooting state in a panoramic shooting mode of the compound eye imaging apparatus of FIG.

As shown in FIG. 12, the present embodiment is different from the above-described two embodiments in that optical elements 11L 'and 11L are used as optical elements constituting a panoramic photographing optical system block.
The difference is that R ′ is used to generate a trapezoidal destination with asymmetric imaging characteristics.

Generally, in an off-axial optical system, an aspherical surface that is asymmetrical to the left and right is mainly used as a reflection surface. Therefore, it is possible to easily generate left-right asymmetric aberrations that do not occur in the coaxial optical system to be rotated unless decentered, and in this sense, the off-axial optical system is an optical system suitable for the panoramic shooting mode. It can be said that.

In the present embodiment, the optical elements 11L ', 1
When a subject is photographed using 1R ′, a trapezoidal destination with an asymmetric left and right image forming characteristic is generated, so that the “center viewpoint” of the left and right imaging systems apparently represents the composite image. The image is obtained so as to be located at the ideal “center viewpoint”. Specifically, as shown in FIG. 13, when the photographing range corresponding to each of the left and right imaging systems is photographed,
In each of the left and right photographed images, the right part (the joint part when combining the left and right images) is shorter than the left part due to the asymmetric trapezoidal distortion generated respectively, and the “left and right images” This means that the "center viewpoint" has apparently moved to the joint portion when the left and right images are combined. That is, the “center viewpoint” of each of the left and right imaging optical systems is the ideal “center viewpoint” of the composite image.
And a composite image similar to the ideal composite image is obtained. As a result, as in the past, when connecting the left and right captured images, it is not necessary to perform image processing to remove the apparent trapezoidal distortion due to the difference in the "center viewpoint", and the image quality due to this image processing is prevented beforehand. Can be prevented.

It is needless to say that the configuration for generating a trapezoidal destination asymmetrical in the image forming characteristic is applicable to the above-described first and third embodiments.

[0116]

As described above, according to the compound eye imaging apparatus of the first aspect, the plurality of imaging systems include an asymmetrical aspherical off-axial reflecting surface as a component and can form a real image. A three-dimensional image capturing mode that includes at least one off-axial optical system block having power, and that generates a parallax between the left and right imaging systems by exchanging the off-axial optical system block; Is configured to be switchable between the panoramic imaging mode and the three-dimensional image capturing mode and the panoramic imaging mode can be selectively executed without increasing the size of the apparatus.

According to the compound eye imaging device of the present invention, the off-axial reflecting surface of the off-axial optical system block is formed of an aspheric surface which is symmetrical with respect to the upper and lower sides and asymmetrical with respect to the left and right. Each of the left and right imaging systems can be configured to be incorporated upside down.

According to the compound eye imaging apparatus of the third aspect, the off-axial optical system block can be manufactured by molding.

According to the compound eye imaging device of the fourth aspect, the off-axial optical system block is formed with a plurality of reflection surfaces formed by surface reflection, and the incident light beam is repeatedly reflected by the reflection surface and emitted. be able to.

According to the compound-eye imaging apparatus of the fifth aspect, when photographing in the panoramic photographing mode, the plurality of imaging systems form images such that left and right inverted trapezoidal distortions are generated. When connecting images, there is no need to perform image processing for removing apparent trapezoidal distortion due to the difference in the central viewpoint of the left and right imaging systems, and it is possible to prevent image quality deterioration due to this image processing.

According to the compound-eye imaging device of the sixth aspect, the plurality of imaging systems can be configured such that the incident-side reference axis and the emission-side reference axis are located on different straight lines.

According to the compound eye imaging apparatus of the present invention, the plurality of imaging systems are configured so as to have the diaphragm arranged immediately before the object incident surface, thereby further reducing the size of the apparatus. it can.

According to the compound eye imaging apparatus of the eighth aspect, since the plurality of imaging systems perform at least one intermediate image formation in the optical path to the final exit surface, the size of the apparatus can be further reduced. be able to.

According to the compound eye imaging apparatus of the ninth aspect, the plurality of imaging systems include a three-dimensional image capturing optical block that causes parallax between the left and right imaging systems, and a panorama that substantially matches the viewpoints of the left and right imaging systems. An optical block for imaging, and an optical block for three-dimensional and an optical block for panoramic imaging,
Each of the three-dimensional imaging optical system block and the panorama imaging optical system block includes an asymmetrical aspherical off-axial reflecting surface as a constituent element and an off-axial optical system block having a refractive power capable of forming a real image. By switching, the three-dimensional image shooting mode and the panoramic shooting mode can be switched, so that the three-dimensional image shooting mode and the panoramic shooting mode can be selectively executed without increasing the size of the apparatus. Can be.

According to the compound eye imaging apparatus of the tenth aspect,
The optical system block for three-dimensional image photographing and the optical system block for panoramic photographing can be arranged in the same plane.

According to the compound eye imaging apparatus of the eleventh aspect,
The three-dimensional image capturing optical system block and the panoramic capturing optical system block can be configured to be stacked in parallel with a plane including the reference axis.

According to the compound eye imaging apparatus of the twelfth aspect,
The off-axial optical system block consists of an aspheric surface that is symmetrical with respect to the top and bottom and asymmetric with respect to the left and right, and the off-axial optical system is built upside down in the left and right imaging systems. Can be configured.

According to the compound eye imaging apparatus of the thirteenth aspect,
The off-axial optical system block can be manufactured by molding.

According to the compound eye imaging apparatus of the fourteenth aspect,
The off-axial optical system block may be configured such that a plurality of reflection surfaces formed by surface reflection are formed, and the incident light beam is repeatedly reflected on the reflection surface and emitted.

According to the compound eye imaging apparatus of the fifteenth aspect,
When shooting in the panoramic shooting mode, the plurality of imaging systems form images such that left and right inverted trapezoidal distortions occur, so that the size of the apparatus can be further reduced.

According to the compound eye imaging device of the sixteenth aspect,
The plurality of imaging systems can be configured such that the incident-side reference axis and the emission-side reference axis are located on different straight lines.

According to the compound eye imaging apparatus of the seventeenth aspect,
Since the plurality of imaging systems have the diaphragms arranged immediately before the object incident surface, the size of the apparatus can be further reduced.

According to the compound eye imaging apparatus of the eighteenth aspect,
Since the plurality of imaging systems perform at least one intermediate image formation in the optical path up to the final exit surface, the size of the apparatus can be further reduced.

According to the compound eye imaging apparatus of the nineteenth aspect,
A plurality of imaging systems each include an asymmetrical aspherical off-axial reflecting surface as a component, and have at least one off-axial optical system block having a refractive power capable of forming a real image. A three-dimensional image capturing optical path that causes parallax between the left and right imaging systems, and a panoramic imaging optical path that substantially matches the viewpoints of the left and right imaging systems, and the off-axial reflecting surface in the off-axial optical system is provided. By rotating and switching between the optical path for three-dimensional image capturing and the optical path for panoramic capturing, 3
Since the three-dimensional image shooting mode and the panoramic shooting mode can be switched between the three-dimensional image shooting mode and the panoramic shooting mode, it is possible to selectively execute the three-dimensional image shooting mode and the panoramic shooting mode without increasing the size of the apparatus.

According to the compound eye imaging apparatus of the twentieth aspect,
The off-axial optical system block consists of an aspheric surface that is symmetrical with respect to the top and bottom and asymmetric with respect to the left and right, and the off-axial optical system is built upside down in the left and right imaging systems. Can be configured.

According to the compound eye imaging apparatus of the twenty-first aspect,
The off-axial optical system block can be manufactured by molding.

According to the compound eye imaging apparatus of the twenty-second aspect,
The off-axial optical system block is formed with a plurality of reflection surfaces formed by surface reflection, and can be configured so that an incident light beam repeatedly reflects on the reflection surface and exits.

According to the compound eye imaging apparatus of the twenty-third aspect,
When shooting in the panoramic shooting mode, the plurality of imaging systems form images such that left and right inverted trapezoidal distortions occur, so that the size of the apparatus can be further reduced.

According to the compound eye imaging apparatus of the twenty-fourth aspect,
The plurality of imaging systems can be configured such that the incident-side reference axis and the emission-side reference axis are located on different straight lines.

According to the compound eye imaging apparatus of the twenty-fifth aspect,
Since the plurality of imaging systems have the diaphragms arranged immediately before the object incident surface, the size of the apparatus can be further reduced.

According to the compound eye imaging apparatus of the twenty-sixth aspect,
Since the plurality of imaging systems perform at least one intermediate image formation in the optical path up to the final exit surface, the size of the apparatus can be further reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a first embodiment of a compound eye imaging apparatus according to the present invention.

FIG. 2 is a diagram showing a detailed configuration of a compound-eye camera head unit in each shooting mode of the compound-eye imaging device of FIG. 1;

3 is a diagram illustrating a configuration of an optical element on a subject side of a compound-eye camera head unit in each shooting mode of FIG. 2;

4 is a diagram illustrating a configuration of an image-side optical element of a compound-eye camera head unit in each shooting mode of FIG. 2;

FIG. 5 is a diagram illustrating an optical path in a compound-eye camera head unit in a panoramic shooting mode.

FIG. 6 is a diagram illustrating an optical path in a compound-eye camera head unit in a three-dimensional image capturing mode.

FIG. 7 is a block diagram illustrating a configuration of a second embodiment of the compound-eye imaging device according to the present invention.

8 is a diagram illustrating a switching configuration of each optical system block in a compound-eye camera head unit of the compound-eye imaging device in FIG. 7;

9 is a diagram illustrating a switching configuration of each optical system block of another compound-eye camera head unit applied to the compound-eye imaging device of FIG. 7;

FIG. 10 is a block diagram illustrating a configuration of a third embodiment of the compound-eye imaging device according to the present invention.

11 is a diagram illustrating a switching configuration of each optical system block in a compound-eye camera head unit of the compound-eye imaging device in FIG. 10;

FIG. 12 is a diagram illustrating a configuration of a compound-eye camera head unit according to a fourth embodiment of the compound-eye imaging device of the present invention.

13 is a diagram illustrating a shooting state in a panoramic shooting mode of the compound-eye imaging device in FIG.

FIG. 14 is a diagram schematically illustrating an arrangement of an imaging optical system in a conventional compound-eye imaging device.

FIG. 15 is a diagram illustrating each image captured by panoramic imaging using a conventional compound-eye imaging device and an ideal synthesis result of the image.

[Explanation of symbols]

10, 101, 111 Compound-eye camera head unit 11 Replacement camera head unit for panoramic photography 12 Replacement camera head unit for three-dimensional imaging 11L, 11R, 11'L, 11'R, 12L, 12R
Optical elements 13L, 13R Optical elements 14, 15L, 15R, 27, 28L, 28R Aperture 20 Signal processing means 25L, 25R Optical elements 26L, 26R Mirror 30 Exposure control means 40 Focus control means 50 Camera head identification means 60 Release button 70 Memory Reference Signs List 80 system controller 90 3D-panorama changeover switch 105 element switching means 151 optical path switching means

Claims (26)

[Claims] 1. A compound-eye imaging apparatus having a plurality of imaging systems, wherein the plurality of imaging systems include an asymmetrical aspherical off-axial reflecting surface as a component and have at least one refractive power capable of forming a real image. A three-dimensional image capturing mode that has off-axial optical system blocks, and replaces the off-axial optical system blocks to generate parallax between the left and right imaging systems, and a panorama that substantially matches the viewpoints of the left and right imaging systems A compound eye imaging apparatus characterized in that it can be switched between a photographing mode and a photographing mode. 2. The off-axial reflecting surface of the off-axial optical system block comprises an aspheric surface which is symmetrical with respect to the vertical direction and asymmetrical with respect to the left and right. 2. The compound eye imaging apparatus according to claim 1, wherein the compound eye imaging apparatus is incorporated upside down. 3. The off-axial optical system block,
3. The compound eye imaging device according to claim 1, wherein the compound eye imaging device is manufactured by molding. 4. The off-axial optical system block according to claim 1, wherein a plurality of reflection surfaces formed by surface reflection are formed, and an incident light beam is repeatedly reflected by said reflection surface and emitted. The compound eye imaging device according to any one of the above. 5. The image capturing system according to claim 1, wherein when performing the image capturing in the panoramic image capturing mode, the plurality of image capturing systems perform image formation such that left and right inverted trapezoidal distortions are generated. The compound eye imaging device according to one of the above. 6. The imaging system according to claim 1, wherein the plurality of imaging systems are configured such that the incident-side reference axis and the emission-side reference axis are located on different straight lines. The compound eye imaging device according to one of the above. 7. The compound eye imaging apparatus according to claim 1, wherein the plurality of imaging systems include a stop disposed immediately before a subject incident surface. 8. The apparatus according to claim 1, wherein the plurality of imaging systems perform at least one intermediate image formation in an optical path up to a final exit surface. Compound eye imaging device. 9. A compound eye imaging apparatus having a plurality of imaging systems, wherein the plurality of imaging systems substantially match the viewpoints of the left and right imaging systems with the three-dimensional image capturing optical block that causes parallax between the left and right imaging systems. A three-dimensional optical block and a panoramic imaging optical block, each of which includes an asymmetrical aspherical off-axial reflecting surface as a constituent element and a refractive power capable of forming a real image. By switching between the three-dimensional imaging optical system block and the panoramic imaging optical system block,
A compound eye imaging apparatus characterized in that the three-dimensional image shooting mode and the panorama shooting mode can be switched. 10. The compound eye imaging apparatus according to claim 9, wherein the three-dimensional image capturing optical system block and the panoramic image capturing optical system block are arranged on the same plane. 11. The compound eye imaging apparatus according to claim 9, wherein the three-dimensional image capturing optical system block and the panoramic image capturing optical system block are stacked in parallel with a plane including a reference axis. . 12. The off-axial reflecting surface of the off-axial optical system block comprises an aspheric surface which is symmetrical with respect to the vertical direction and asymmetrical with respect to the horizontal direction. 10. The compound eye imaging apparatus according to claim 9, wherein the compound eye imaging apparatus is incorporated upside down. 13. The compound eye imaging apparatus according to claim 9, wherein said off-axial optical system block is manufactured by molding. 14. The off-axial optical system block according to claim 9, wherein a plurality of reflecting surfaces formed by surface reflection are formed, and an incident light beam is repeatedly reflected by said reflecting surface and emitted. The compound eye imaging device according to any one of the above. 15. The image capturing system according to claim 9, wherein when performing the image capturing in the panoramic image capturing mode, the plurality of image capturing systems form images such that left and right inverted trapezoidal distortions are generated. The compound eye imaging device according to one of the above. 16. The plurality of imaging systems according to claim 9, wherein each of the plurality of imaging systems is configured such that the incident-side reference axis and the emission-side reference axis are located on different straight lines. The compound eye imaging device according to one of the above. 17. The compound eye imaging apparatus according to claim 9, wherein said plurality of imaging systems have a stop disposed immediately before a subject incident surface. 18. The apparatus according to claim 9, wherein the plurality of imaging systems perform at least one intermediate image formation in an optical path up to a final exit surface. Compound eye imaging device. 19. A compound-eye imaging apparatus having a plurality of imaging systems, wherein each of the plurality of imaging systems includes an asymmetric aspherical off-axial reflecting surface as a component,
A three-dimensional image capturing optical path having at least one off-axial optical system block having a refractive power capable of forming a real image and causing parallax between the left and right imaging systems in the off-axial optical system block; By providing a light path for panoramic photography that substantially matches the viewpoint of the imaging system, by rotating the off-axial reflecting surface in the off-axial optical system to switch between the light path for three-dimensional image photography and the light path for panoramic photography, A compound eye imaging apparatus characterized in that the three-dimensional image shooting mode and the panorama shooting mode can be switched. 20. The off-axial reflecting surface of the off-axial optical system block is formed of an aspheric surface which is symmetrical with respect to the vertical direction and is asymmetrical with respect to the horizontal direction. 20. The compound eye imaging apparatus according to claim 19, wherein the compound eye imaging apparatus is incorporated upside down. 21. The compound eye imaging apparatus according to claim 19, wherein the off-axial optical system block is manufactured by molding. 22. The off-axial optical system block according to claim 19, wherein a plurality of reflecting surfaces formed by surface reflection are formed, and the incident light beam is repeatedly reflected by said reflecting surface and emitted. The compound eye imaging device according to any one of the above. 23. The image capturing apparatus according to claim 19, wherein when performing the image capturing in the panoramic image capturing mode, the plurality of image capturing systems form images such that left and right inverted trapezoidal distortions are generated. The compound eye imaging device according to one of the above. 24. The imaging system according to claim 19, wherein the plurality of imaging systems are configured such that the incident-side reference axis and the emission-side reference axis are located on mutually different straight lines. The compound eye imaging device according to one of the above. 25. The compound eye imaging apparatus according to claim 19, wherein said plurality of imaging systems have a stop disposed immediately before a subject incident surface. 26. The apparatus according to claim 19, wherein the plurality of imaging systems perform at least one intermediate image formation in an optical path up to a final exit surface. Compound eye imaging device.