JP2006220603A - Imaging apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an imaging apparatus having a simple structure, capable of easily acquiring information about the position and the range or the three-dimensional data of objects and easily forming stereoscopic images, based on the acquired images. <P>SOLUTION: The imaging apparatus is equipped with a lens optical system 12, capable of imaging the surrounding objects, formed rotationally symmetric with respect to the optical axis S as the center, and a rotating body mirror δ with curved surface formed coaxially with the optical axis S of the lens optical system 12 as a center and arranged around this lens optical system 12. The imaging apparatus has an imaging device 14 for imaging a plurality of imaged points B<SB>1</SB>and B<SB>2</SB>provided images through the lens optical system 12 and a rotating body mirror δ, with respect to a single point Q of the object. By determining a plurality of the imaged points B<SB>1</SB>and B<SB>2</SB>for the one point Q of the object, the imaging apparatus computes the position of the single point Q of object from a relation of geometrical optical system for the lens optical system 12 and the rotor mirror δ. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an imaging apparatus that enables distance measurement and acquisition of three-dimensional image information based on a captured image.

  Conventionally, when optical distance measurement is performed, an object is surveyed from two different points, and the distance to the object is calculated based on the principle of triangulation based on the distance between the two points. In addition, some distance measuring devices used in the autofocus device of optical equipment obtain a rough distance based on the matching condition of images obtained from two different viewpoints and the matching of lens focus. . In addition, there is an apparatus using laser light for precise distance measurement.

In addition, as disclosed in Non-Patent Document 1, there is also an apparatus that enables a stereoscopic view by capturing a subject separately from two different points, creating a state viewed with both eyes of a person, and reproducing this. is there.
JP 2000-4383 A JP 2000-134641 A 3D display by Chihiro Masuda Sangyo Tosho Co., Ltd. Introduction to Image Processing in C Language Takeshi Yasuiin Tomoharu Nagao Shoshodo

  In the case of the above-described conventional technology, in order to obtain precise distance measurement information, the apparatus becomes large and distance information cannot be easily obtained. Moreover, what uses a laser beam is used only for ranging, and cannot use a captured image.

  In addition, the conventional stereoscopic playback device needs to obtain images by installing a plurality of imaging devices at different points in order to obtain a stereoscopic image, and the imaging device is large. In addition, distance information and three-dimensional data could not be easily obtained from the obtained image.

  In addition, Patent Document 1 proposes an image capturing device that can capture an image of the entire circumference of a side circumferential surface of an object using a panoramic imaging lens and a rotating mirror. However, in this image capturing device, a mirror is disposed in front of the panoramic imaging lens in order to capture an image of a side surface or an inner surface of a cylindrical subject. It is not for measuring data, and this point is not suggested at all, and it does not disclose lens conditions and configuration capable of measurement. Further, Patent Document 2 proposes a camera that takes a stereoscopic photograph using two-to-four mirrors, but this is simply a mirror for obtaining a parallax angle by human eyes in front of the camera. The object is placed and imaged, and this cannot measure the position of the subject or the three-dimensional data.

  The present invention has been made in view of the above-described problems of the prior art, and can easily obtain the position and distance information or three-dimensional data of a subject with a simple structure, and based on the obtained image. An object of the present invention is to provide an imaging apparatus that can easily form a stereoscopic image.

  Here, first, the basic concept in the present invention will be described below. In FIG. 1, a light ray H on an arbitrary plane γ passing through the optical axis S and going to a point 0 on the optical axis S is on a plane β perpendicular to the optical axis S, where θ is an angle formed with the optical axis S. The distance l (el) from the center of the omnidirectional image (i.e., the focal point 0) is expressed by equation (1).

上記式（１）なる関係で写像される光学特性を備えた構造のレンズ光学系を全方位カメラと称する。

A lens optical system having a structure having optical characteristics mapped by the relationship of the above formula (1) is referred to as an omnidirectional camera.

  Now, consider a rotating body whose axis of rotation is the z axis shown in FIG. A curve c connecting two points C and D on the plane including the rotation axis z is rotated inside an arbitrary rotation axis z (ie, on the rotation axis side) formed around an arbitrary axis z on the plane where the two points exist. Let it be a rotating mirror δ having a reflecting surface. Structure in which the rotary mirror δ and the omnidirectional camera α are positioned so that the optical axis S of the omnidirectional camera α coincides with the rotational axis z of the rotary mirror δ and the light beam H directly incident on the omnidirectional camera α is blocked. Is set (FIG. 3).

When the structure shown in FIG. 3 is cut along the plane assumed in FIG. 1, the relationship shown in FIG. 4 is obtained. In FIG. 4, the cutting lines of the rotating mirror δ appear as a cutting line c ₁ and a cutting line c ₂ , one on each side of the optical axis S. First, the light beam H ₁ intersecting with the optical axis S at an angle θ ₁ is blocked by _one cutting line c ₁ of the rotating mirror δ and replaced with _one light beam G ₁ emitted from the point Q. On the other hand, another ray G ₂ emitted from Q is reflected by the other cutting line c ₂ of the rotating mirror δ, is replaced by H ₂ , and is incident on the point O at an angle of θ ₂ with the optical axis S. That is, the rays G ₁ and G ₂ are mapped onto the omnidirectional image on the plane β obtained by the omnidirectional camera α while maintaining the relationship of the expression (1). That is, the image information of the point Q is two points at distances l ₁ and l ₂ from the center 0 on the omnidirectional image.

に写像される。点Ｑが今想定した平面上の理想的な点（位置のみあって体積がない）の場合には、点Ｑに関する結像点は、図３の構造体による全方位画像上に２点存在し、回転体鏡δの切断線ｃ₁，ｃ₂による結像点は２点以上は存在しない。

Is mapped. In the case where the point Q is an ideal point on the assumed plane (there is only a position and no volume), there are two imaging points related to the point Q on the omnidirectional image by the structure of FIG. There are no two or more image forming points by the cutting lines c ₁ and c ₂ of the rotating mirror δ.

If it is found by some method that two points on the obtained omnidirectional image are omnidirectional images of the point Q existing in the space, that is, the distances l ₁ and l ₂ from the center of the omnidirectional image. Is found, θ ₁ and θ ₂ are given from the equation (2). Then, if the reflection angle of the rays G ₁ and G _{2 at} the cutting lines c ₁ and c ₂ and the position of the reflection point at the rotating mirror δ are known, the point Q is obtained as the intersection of the straight lines G ₁ and G _2. The coordinates of are to be determined.

  The invention of the present application uses the above theory. The invention according to claim 1 of the present application is a lens optical system that is formed rotationally symmetrically with respect to the central optical axis and that can image a surrounding subject, and the lens optical system. A curved mirror having a curved surface arranged around the optical axis of the lens optical system and coaxially formed with the optical axis of the lens optical system, and a plurality of images formed by the lens optical system and the curved mirror on one point of a subject An imaging point is formed, the positions of the plurality of imaging points with respect to one point of the subject are detected, and the position of one point of the subject is determined by a geometric optical relationship between the lens optical system and the curved mirror This is an imaging apparatus that can calculate.

  According to the second aspect of the present invention, there is provided a lens optical system that is formed rotationally symmetrically with respect to the central optical axis and can image a surrounding subject, and an optical axis of the lens optical system disposed around the lens optical system A curved mirror having a curved surface formed concentrically with respect to the center, an imaging device for imaging a plurality of imaging points formed by the lens optical system and the curved mirror with respect to one point of the subject, and the subject An imaging device comprising: a measuring unit that detects positions of the plurality of imaging points with respect to one point of the object and calculates a position of the point of the subject by a geometric optical relationship between the lens optical system and the curved mirror. Device.

  The lens optical system includes a fisheye lens. The curved mirror has a rotating body-like curved surface arranged coaxially with the optical axis of the lens optical system, and three imaging points are formed by the lens optical system and the curved mirror with respect to one point of a subject. Is an imaging device in which is formed.

  Further, the lens optical system is formed in a rotationally symmetrical manner around the optical axis of the lens, and an annular light incident surface formed in a substantially convex lens shape that swells so that side light can enter from the entire 360 ° circumference, A first reflecting surface formed in an annular shape so as to be substantially opposite to the light incident surface and bulging outward, and formed in a curved mirror shape so as to reflect light into the lens; and the light incident surface A convex mirror-like second reflecting surface provided at the center of the ring for reflecting the reflected light from the first reflecting surface toward the inner part of the ring of the first reflecting surface, and the ring of the first reflecting surface A panoramic imaging lens is provided that includes a light exit surface that is located in the inner central portion and faces the second reflection surface and transmits light from the second reflection surface. The panoramic imaging lens forms an image of light that enters the light incident surface in a direction that converges to approximately one point on the optical axis of the panoramic imaging lens.

  The curved mirror is disposed coaxially with the optical axis of the lens optical system, and has mirror surfaces at least substantially symmetrical with respect to the optical axis. Furthermore, the curved mirror is a rotating mirror that is arranged coaxially with the optical axis of the lens optical system and has the optical axis as a center. Further, the rotating mirror may be a concave mirror or a convex mirror, and may be a conical mirror. Further, it may be a parabolic or hyperbolic rotating mirror.

  The measuring means obtains the plurality of imaging points for one point of the subject by stereo matching processing of the captured image, and based on the obtained imaging points, one point of the subject The position information of the subject is obtained three-dimensionally by repeating this process. Furthermore, the measurement means is an imaging device that calculates position information of the subject and outputs position information that can display the subject three-dimensionally.

  According to the imaging device of the present invention, it is possible to easily obtain the position information and three-dimensional information of the subject based on the image captured by one camera. Furthermore, data that enables stereoscopic viewing can be obtained based on the information, and a three-dimensional image can be easily formed.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In this embodiment, a fisheye lens is used as the lens optical system of a general omnidirectional camera. In the fish-eye lens, as shown in FIG. 5, a straight line connecting a vertex P of the hemisphere and the focal point O is an intersection A between a light beam H incident on the focal point O of the lens and a hemisphere α ₁ having a radius R centered on the focal point O. (This is the optical axis S in the fisheye lens) and intersects at a right angle and maps to point B on the plane β including the focal point O. Of the two spaces that can be divided by the plane β, all the intersections of all the rays that go from the point of the space where the point P exists toward the focal point O and the assumed hemisphere α ₁ that is the optical system of the fisheye lens are: All are mapped in a circle with a radius R centered on the focal point O on the plane β. The positional relationship between point A and point B differs depending on the projection rule of the fisheye lens. For example, in the case of the equidistant projection method, each point on the assumed hemisphere α ₁ is a plane with the relationship described below. Maps onto β.

  Now, a plane γ (shown in FIG. 5) formed by the point A and the optical axis S is considered, and the relationship between the points on the plane is shown in FIG. The point A exists on a circle with a radius R, and the point B also exists on the plane γ. If the incident angle of the light beam H is θ and the distance between the points OB is OB = 1,

で与えられる。すなわち、入射光線Ｈが光軸Ｓと成す角度θが、全方位画像上に表現される。

Given in. That is, the angle θ formed by the incident light beam H and the optical axis S is expressed on the omnidirectional image.

  Here, a rotating mirror δ shown in FIG. 7 is considered as an example of the rotating mirror. The arbitrary curve c shown in FIG. 2 is a part of a circle F having a radius r. It is assumed that the circle F is a from the rotation axis z, the point C is a distance d from the rotation axis z, and the point D is a distance e. The rotating mirror in FIG. 7 has a reflection surface on the axis z side.

FIG. 8 shows a schematic structure of an imaging apparatus constituted by a fisheye lens and a rotating mirror δ. Figure 8 includes a rotating shaft z of the rotary body [delta], is matched with the optical axis S of supposition hemisphere alpha ₁ is an optical system of the fisheye lens, the plane β of the omnidirectional image of the fisheye lens is obtained, the point of the rotary body mirror [delta] A state when a structure formed by matching the plane formed by rotating D is cut along a plane γ is shown. A plane formed by rotating the center F (x ₀ , y ₀ ) of the circle F around the rotation axis z is parallel to the plane β, the plane γ is the xy plane, and the focal point O is the origin (0, 0). One central coordinate of the hour circle F is F (x ₀ , y ₀ ), and the central coordinate of the other circle is F ′ (x ₀ , y ₀ ), and x ₀ = a. Further, the radius R of the assumed hemisphere α ₁ coincides with the rotation radius e of the point D.

The ray trace in this embodiment on the plane γ is as shown in FIG. _Two intersecting lines between the rotating mirror δ and the plane γ are given as c ₁ and c ₂ which are axisymmetric with respect to the straight line OP. Two rays _G 1, _{G 2} is _{N 1} point _{c 1} emitted from a point Q in the plane gamma, is reflected by the _{N 2} points _{c 2,} toward the focal point O as the incident angle θ _2R, θ _2L, Intersect the assumed hemisphere α ₁ at points A ₁ and A ₂ . In the case of the omnidirectional camera α of equidistant projection, these points A ₁ and A ₂ are omnidirectional on the plane β as one point B ₁ and the other as point B _{2 according} to the relationship shown in the equation (3). Projected on the image.

Assuming that two points on the straight line passing through the center of the omnidirectional image (the locus of the cutting N ₁ is a plane β by plane gamma) is found to those emitted from one point of the plane gamma, fisheye optical system The points A ₁ and A ₂ on the assumed hemisphere α ₁ are obtained, and therefore N ₁ point and N ₂ point are obtained. Thereby, linear rays G ₁ and G ₂ are given, and the position of the real point Q in space, that is, the length OQ and the angle θ can be obtained. Thus, distance and direction can be measured.

In FIG. 9, the relationship between the parameters r ₁ and θ ₁ relating to the point Q to be obtained can be expressed by the following using known parameters (x ₀ , y ₀ ) and r.

なる関係が得られる。また、角度θ_2Lおよびｒ_2Lを補助パラメータとして用いると、鏡面ｃ_２に関して

なる関係が得られる。 First, when angles θ _2R and r _2R are used as auxiliary parameters, mirror surface c ₁

The following relationship is obtained. When the angles θ _2L and r _2L are used as auxiliary parameters, the mirror surface c ₂

The following relationship is obtained.

Next, the parameters r ₁ and θ ₁ relating to the point Q can be obtained by the following procedure.
I. By stereo matching, θ _2R and θ _2L are obtained, and the values are substituted into equations (4), (5), (6), and (7).
II. R _2R is erased by the equation in which the equation (5) is substituted into the equation (4), and r _2L is eliminated by the equation in which the equation (7) is substituted into the equation (6).
III. The two equations obtained in II above are equations of known parameters (x ₀ , y ₀ ), r and parameters r ₁ , θ ₁ relating to the point Q to be obtained. By solving the simultaneous equations, the parameters r ₁ , θ ₁ can be obtained.

Here, stereo matching is a method of finding correspondence between two points in an image (for example, pages 127 to 131 of Non-Patent Document 2). In this embodiment, in stereo matching for specifying the point Q in FIG. 9, it is found that two points of two images on the same straight line (epipolar line) are the same as shown in FIG. Specifically, template matching is performed on a predetermined block in an image with one of the left and right images as a template. This is called stereo matching based on block matching. In this embodiment, when searching for the same point as the point B _1, using the method for comparing the color and brightness of a predetermined block check whether the same point. Position data for outputting a stereoscopic image can be obtained by making this block as small as possible, performing matching, and calculating the position by the above formula. In addition, matching may be performed using other information of the image.

  The imaging apparatus according to this embodiment includes an apparatus as shown in FIG. This apparatus includes a lens optical system 12 including a fisheye lens of the camera 10 and an imaging element 14 that images a plurality of imaging points imaged by the rotating mirror δ, and a plurality of imagings for one point of the subject. A computer 16 is provided which is a measuring means for obtaining the position of the point and calculating the position of one point Q of the subject from the geometric optical relationship between the lens optical system 12 and the rotating mirror δ.

  Then, the above calculation is performed by the computer 16, and the obtained position information of the subject can be stored and used as measurement data. Furthermore, based on the measurement data that is the position information, a stereoscopic video can be displayed on the monitor 18 by the stereoscopic video display program. As a method of outputting a stereoscopic image from the position information of a subject, for example, there are a parallax method, a lenticular method, an integral method, a large concave mirror method, and a large convex lens method as methods without using glasses (for example, non-patent) Reference 122, pages 122-127).

  According to the imaging apparatus of this embodiment, the position information of each point of the subject can be acquired only by using one camera 10, the lens optical system 12 having a fisheye lens, and the rotating mirror δ. In particular, when a fisheye lens is used, the range of the subject that can be optimally imaged can be appropriately set by setting a curved mirror or a rotating mirror, taking advantage of the infinite depth of field that is a feature of the fisheye lens.

Also, the fisheye lens is also directly input light from the lens front, the line of intersection is directed directly focus at the incident angle θ1 as shown in FIG. 9, intersect at the hemisphere alpha ₁ and A _3, the projection principle type of omnidirectional lens According to (1), projection is performed on B ₃ points. The three points B ₁ , B ₂ , and B ₃ exist on a straight line (epipolar line) on the plane γ. This straight line is divided into three parts, and the above three points exist in each of the three parts. Thereby, the position of the point of the subject can be calculated from the three points, and the position information can be obtained more accurately.

  It should be noted that other projection rules of the fisheye lens, such as the normal projection method, the equal solid angle projection method, and the orthographic projection method, are also applied to each point of the subject according to a relational expression such as the above-described expression based on the mathematical formula relating to the method. The position can be determined.

  Next, another embodiment of the present invention will be described. In this embodiment, a panoramic imaging lens described below is used as the lens optical system. This panoramic imaging lens can take a 360 ° surrounding image.

  The panoramic imaging lens 20 of this embodiment is formed of optical glass, a transparent resin for lenses, or the like, and is formed rotationally symmetrical around the optical axis at the center of the lens. The panoramic imaging lens 20 includes an annular light incident surface 22 on which lateral light is incident from the entire 360 ° circumference so that a 360 ° field of view can be captured at a time. The light incident surface 22 is formed in a convex lens shape that swells laterally. An annular first reflecting surface 23 that reflects light incident from the light incident surface 22 into the lens 20 is formed at a predetermined interval from the light incident surface 22. A second reflecting surface 24 that reflects the reflected light from the first reflecting surface 23 toward the inner portion of the ring of the first reflecting surface 23 is provided at the center in the ring of the annular light incident surface 22. The first reflecting surface 23 is formed in a convex shape that bulges to the side, and the inner surface side of the lens 20 of the first reflecting surface 23 is a reflecting surface of an annular concave curved mirror facing the direction of the second reflecting surface 24. . The second reflecting surface 24 is formed in a concave shape, and the inner surface side of the lens 20 is a convex mirror-like reflecting surface. A light emitting surface 25 that transmits light from the second reflecting surface 24 is formed at a position facing the second reflecting surface 24 at the center in the ring of the annular first reflecting surface 23.

  The surface shapes of the light incident surface 22, the first light reflecting surface 23, and the second light reflecting surface 24 are such that a 360 ° panoramic image incident from the light incident surface 22 is obtained through the light emitting surface 25. It is formed in a spherical shape or an aspheric shape set by an appropriate expression. The light emission surface 25 is formed in a concave surface, a convex surface, or a planar shape according to the optical system. Further, there is a predetermined thickness between the light incident surface 22 and the first reflecting surface 23, and the side peripheral surface 30 is provided with a predetermined width.

  As shown in FIG. 12, this panoramic imaging lens 20 forms an image with a light beam incident in a direction gathering at one place on the optical axis among parallel lights incident from the light incident surface 22 of the panoramic imaging lens 20. It is. Further, the panoramic imaging lens 20 forms an image with incident light from a subject having a 360 ° circumference from the front to the side.

  As shown in FIGS. 13 and 14, the positional relationship between the panoramic imaging lens 20 and the rotating mirror δ is approximately 1 of the optical axis S of the panoramic imaging lens 20 out of the light reflected and incident by the rotating mirror δ. Incident light in a direction concentrating on a point forms an image as incident light capable of calculating subject position information and three-dimensional data based on the same principle as in the above embodiment. Further, as shown in FIGS. 13 and 14, the range A in which the subject can be favorably imaged can be adjusted by moving the position of the rotating mirror δ in the optical axis direction.

For example, the rotating mirror δ shown in FIG. 13 has a rotating body-like curved surface arranged coaxially with the optical axis S of the lens optical system, and its curvature is an extension of the first lens surface (light incident surface 22). When the top vertex is the coordinate origin (0,0) of the coordinate system (Z, Y), the center of curvature is Z = -13.855 mm Y = -34.00
It is a circular arc with a radius of 48 mm. FIG. 14 shows a case where the center of curvature of the rotating mirror δ is Z = −10.425 mm. In FIG. 13 and FIG. 14, the range A in which the subject can be imaged satisfactorily is closer to the lens side in the case of FIG.

  The panoramic imaging lens 20 of this embodiment is also used as an imaging apparatus as shown in FIG. 11, acquires position information of a subject, and is used for creation of a stereoscopic image, measurement, and distance measurement. Further, the principle of distance measurement is the same as that described in the above embodiment, and this embodiment can provide the same effect as that of the above embodiment.

  The imaging device of the present invention is not limited to the above embodiment, and the shape of the curved mirror or rotating mirror may be an elliptical, parabolic, in addition to a rotating or spherical shape of an arcuate line, It is also possible to set an aspherical shape in which a hyperbola shape, a straight line, or the like is rotated about the optical axis. As the aspherical rotating mirror δ (curved surface mirror), for example, numerical values can be set as in Example 2 described later.

  In addition, by appropriately adjusting the shape and position of the curved mirror or the rotating mirror, the position of the subject and the good imaging range can be appropriately selected. Further, the inside of the rotating mirror may be filled with a transparent body having a refractive index larger than that of air, for example, glass, and the range in which the distance can be measured may be expanded. As the equations used for the geometrical optical relationship and the like regarding these optical systems, equations relating to lens characteristics and the shape of the mirror surface can be used, and various other known theoretical equations can be used. In addition, the curved mirror that forms the rotating mirror does not have to be a continuous rotating body, and may be a curved mirror that forms a part of the rotating body at a predetermined position. A pair of curved mirrors constituting a part of the rotating mirror with a predetermined size may be arranged at positions that are mutually targeted.

Next, an embodiment of the imaging apparatus of the present invention will be described below. In this embodiment, the panoramic imaging lens 20 is used as a lens used in the optical system of the omnidirectional camera. FIG. 15 shows a ray trace when the panoramic imaging lens 20, the imaging optical system 32, and the rotating mirror δ are used. Also in this embodiment, two imaging points B ₁ and B ₂ can be obtained with respect to an arbitrary point Q of the subject by the rotating mirror δ, the panoramic imaging lens 20, and the other imaging optical system 32. Similar to the above embodiment, the position of the point Q can be obtained. In this embodiment, a band pass filter (G-BPF) 34 is inserted into an optical system using the panoramic imaging lens 20 to perform distance measurement using only a specific wavelength. As a result, position information can be calculated more accurately, and accurate distance measurement can be performed.

The rotating mirror δ of this embodiment has a rotating body-like curved surface arranged coaxially with the optical axis of the lens optical system, and its curvature is the apex on the extension of the first lens surface (light incident surface 22). Is the coordinate origin (0,0) of the coordinate system (Z, Y), the center of curvature is Z = -13.855 mm Y = -34.00
It is a circular arc with a radius of 48 mm. The lens system of this example takes the values in Table 1.

  According to this embodiment, two images can be obtained for one point of the subject, and stereoscopic vision based on the parallax of the human eye can be easily reproduced. Further, by imaging the subject through the band-pass filter 34, it is possible to measure the distance with substantially a single wavelength, and to measure with higher accuracy.

  Next, an example of a curved mirror using an aspherical surface is shown. Also in this embodiment, the panoramic imaging lens 20 is used as a lens used for the optical system of the omnidirectional camera. Table 2 shows the conditions.

It is a conceptual diagram explaining the basic idea of this invention. As an example of the rotating mirror used in the present invention, the rotating body has a z-axis as a rotation axis. It is a conceptual diagram which shows the structure which has arrange | positioned the rotating body mirror so that the light ray which injects directly into the omnidirectional camera of this invention may be interrupted. It is a conceptual diagram which shows the case where the structure of FIG. 3 is cut | disconnected by the plane assumed in FIG. It is a conceptual diagram which shows plane | planar (gamma) made with the point A on the assumption hemisphere (alpha) ₁ and the assumption hemisphere (alpha) ₁ and the optical axis S which are the optical systems of the fisheye lens used for one Embodiment of this invention. It is a conceptual diagram which shows the relationship of each point on the plane containing the optical axis of the fish-eye lens used for one Embodiment of this invention. It is a conceptual diagram which shows the rotary mirror used for one Embodiment of this invention. It is a conceptual diagram which shows the typical structure of the imaging device comprised by the fish-eye lens and rotary mirror used for one Embodiment of this invention. It is a figure which shows the ray trace of the imaging device comprised by the fish-eye lens and rotary mirror used for one Embodiment of this invention. It is a conceptual diagram which shows the stereo matching method used for one Embodiment of this invention. It is a schematic block diagram of the imaging device of one Embodiment of this invention. It is the schematic which shows the ray trace of the parallel light which injects into the panoramic imaging lens used for other embodiment of this invention, Comprising: By the light beam which entered in the direction where one place on an optical axis gathers among the light which entered from the light-incidence surface It shows that an image is formed. It is the schematic which shows the ray trace of the panoramic imaging lens used for other embodiment of this invention. It is the schematic which shows the ray trace at the time of moving the position of the rotary mirror of the panoramic imaging lens used for other embodiment of this invention. It is the schematic which shows one Example of the optical system which used the panoramic imaging lens for the imaging device of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Camera 12 Lens optical system 14 Image pick-up element 16 Computer 18 Monitor alpha Omnidirectional camera alpha ₁ Assumed hemisphere (fisheye lens)
δ Rotating mirror

Claims (10)

  A lens optical system that is rotationally symmetric with respect to the central optical axis and that can image a surrounding subject, and a curved surface that is disposed around the lens optical system and has a curved surface that is coaxial with the optical axis of the lens optical system A plurality of imaging points formed by the lens optical system and the curved mirror on one point of the subject, and positions of the plurality of imaging points with respect to the one point of the subject , And the position of one point of the subject can be calculated from the geometric optical relationship between the lens optical system and the curved mirror.   A lens optical system that is rotationally symmetric with respect to the central optical axis and that can image a surrounding subject, and a curved surface that is arranged around the lens optical system and that is coaxially formed around the optical axis of the lens optical system. A curved mirror, an imaging device for imaging a plurality of imaging points formed by the lens optical system and the curved mirror with respect to one point of the subject, and the plurality of imaging with respect to one point of the subject An image pickup apparatus comprising: a measuring unit that detects a position of a point and calculates a position of one point of the subject based on a geometric optical relationship between the lens optical system and the curved mirror.   The image pickup apparatus according to claim 1, wherein the lens optical system includes a fisheye lens.   The curved mirror has a rotating body-like curved surface arranged coaxially with the optical axis of the lens optical system, and three imaging points are formed by the lens optical system and the curved mirror with respect to one point of a subject. The imaging device according to claim 1, wherein the imaging device is formed.   The lens optical system is formed in a rotationally symmetrical manner around the optical axis of the lens, and swells so that side light can enter from the entire 360 ° circumference, and is formed into a substantially convex lens shape. A first reflecting surface formed in an annular shape so as to substantially face each other and bulging outwardly, and formed in a curved mirror shape so as to reflect light into the lens, and a ring of the light incident surface A convex mirror-like second reflection surface that is provided at the center of the first reflection surface and reflects reflected light from the first reflection surface toward an inner portion of the ring of the first reflection surface; 3. A panoramic imaging lens having a light exit surface that is located in a portion and faces the second reflection surface and transmits light from the second reflection surface. 4. The imaging device described.   6. The panorama imaging lens forms an image of light incident in a direction that converges to approximately one point on the optical axis of the panoramic imaging lens among light entering the light incident surface thereof. Imaging device.   The curved mirror is arranged coaxially with the optical axis of the lens optical system, and has mirror surfaces at least substantially symmetrical with respect to the optical axis. The imaging device according to 4, 5, or 6.   The imaging apparatus according to claim 7, wherein the curved mirror is a rotating mirror that is disposed coaxially with an optical axis of the lens optical system and has the optical axis as a center.   The measuring means obtains the plurality of imaging points for one point of the subject by stereo matching processing of the captured image, and based on the obtained imaging points, 9. The imaging apparatus according to claim 2, wherein the position information is calculated and the position information of the subject is obtained three-dimensionally by repeating the calculation.   The image pickup apparatus according to claim 9, wherein the measurement unit calculates position information of the subject and outputs position information capable of displaying the subject three-dimensionally.

Images