JP2008196891A - Multi-eye camera - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To maintain a function, even if some imaging device fails, in a device for acquiring information of a distance to an object by using imaging devices. <P>SOLUTION: The device wherein a plurality of, namely, three or more imaging devices are arranged, for measuring the distance to the object by selecting a prescribed number of sets wherein two devices are treated as one set from the plurality of the imaging devices, comprises a failure detection means for detecting a failure by monitoring image data of the plurality of the imaging devices, and a distance operation device for measuring the distance to the object by sets of imaging devices which remains after removing a failed imaging device detected by the failure detection means. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an apparatus for obtaining distance information to a subject using an imaging device, and more particularly to a multi-lens camera using a plurality of imaging devices.

  Conventionally, a stereo image processing apparatus is configured by using an imaging apparatus such as a CCD camera or a CMOS camera, and there is an apparatus that uses two sets of the imaging apparatus to obtain distance information to a subject. The function cannot be maintained if a set of imaging devices fails.

  The problem to be solved by the present invention is to provide a multi-lens camera capable of maintaining the function even when there is a malfunctioning imaging apparatus in an apparatus for obtaining distance information to a subject using the imaging apparatus. is there.

  In order to solve the problem, the multi-lens camera according to claim 1 arranges a plurality of imaging devices of three or more, selects a predetermined number of sets, one set of two from the plurality of imaging devices, to the subject. A distance detection unit that detects a failure by monitoring video data of the plurality of imaging devices and a set of imaging devices remaining except for the imaging device in which the failure detection unit has detected the failure. It consists of the distance calculating device which measures the distance to.

  The multi-lens camera according to claim 2 is configured to measure a distance to a subject by arranging a plurality of three or more imaging devices, and selecting a predetermined number of sets of two from the plurality of imaging devices. The failure detection means for monitoring the video data of the plurality of imaging devices and detecting the failure, and the distance to the subject is determined by the combination of the remaining imaging devices except the imaging device for which the failure detection means has detected the failure. It is characterized by comprising a distance calculation device to be measured and a failure notification means for notifying the outside of the failure by detecting a failure of the failure detection means.

  A multi-lens camera according to a third aspect is the one according to the first or second aspect, wherein the failure detection means is a histogram creation circuit.

  According to the multi-view camera according to claim 1, since a plurality of three or more imaging devices are used, the distance to the subject can be measured with high accuracy, and the failure detecting means detects a failure of the imaging device and is a normal imaging device. The function of distance measurement can be maintained by the set of

  According to the multi-lens camera according to claim 2, in addition to the effect described in claim 1, the failure is notified to the outside, for example, the maintenance department, and the function is provided by the set of imaging devices remaining until the repair until the repair. Can be maintained.

  According to the multi-view camera of the third aspect, in addition to the effect described in the first or second aspect, the histogram creation circuit can be simply configured as the failure detection means, and the failure can be detected with high accuracy.

  FIG. 1 is a functional block diagram for explaining an embodiment of a multi-view camera, and shows an example in which there are three imaging devices. In FIG. 1, reference numerals 101a, 101b, and 101c denote image pickup apparatuses, and reference numerals 102a, 102b, and 102c denote frame memories that temporarily store every frame of video data picked up by the image pickup apparatuses 101a, 101b, and 101c. Reference numerals 103a, 103b, and 103c denote histogram generation circuits that obtain luminance distributions from the respective video data from the frame memories 102a, 102b, and 102c. Reference numeral 104 denotes a failure detection unit that constitutes a failure detection unit together with the histogram creation circuits 103a, 103b, and 103c. The brightness distribution states obtained by the histogram creation circuits 103a, 103b, and 103c are monitored, and the distribution is abnormal. Sometimes, a failure is detected in the imaging device 101a, 101b or 101c, and its output is connected to a switch to be described later, and connected to the communication means 109 for notifying the failure state by connecting to the outside, for example, a maintenance center. Reference numerals 105a, 105b and 105c denote filters for connecting the outputs of the frame memories 102a, 102b and 102c. A distance 106 is obtained by inputting each data from each of the imaging devices 101a, 101b, and 101c via the filters 105a, 105b, and 105c, and performing a distance calculation using a pair of data of each of the imaging devices 101a, 101b, and 101c. In this embodiment, for the inputs A, B, and C, in this embodiment, a distance output AB by a pair between A and B, a pair between distance outputs BC and C by a pair between BC The distance output C-A is output. 107 is an adder that inputs and adds all the outputs of the distance calculation unit 106, and 108 is an output of the adder 107 or the distance that does not include the imaging device output that has failed due to the state detected by the failure detection unit 104. This is a switch for selecting any one of the outputs from the arithmetic unit 106, and the output is sent to a processing unit not shown.

The imaging devices 101a, 101b, and 101c are mounted on a single substrate with the optical axis of the optical system in parallel. When three units are used, each of the imaging devices 101a, 101b, and 101c is arranged at each vertex of an equilateral triangle, for example.
FIG. 2 is a diagram for explaining the principle of obtaining distance information by the imaging apparatus. Two units are taken out from a plurality of imaging devices to form a set, distance information of an object is obtained by the principle of triangulation, and a distance indicated by the object is measured.
As shown in FIG. 2, one point P (X, Y, Z) of the subject is photographed by two imaging devices. An image pl (xl, yl) is formed on the imaging surface of the left imaging device, and pr (xr, yr) is imaged on the imaging surface of the right imaging device. The position of the point P (X, Y, Z) is obtained by searching for a corresponding point between the two imaging devices. At this time, assuming that the focal length of both imaging devices is F and the distance between both imaging devices is B, each coordinate point of the point P can be obtained by the following equations.
X = B (xl + xr) / 2d
Y = B (yl + yr) / 2d
Z = BF / d
Where d = xl−xr
When a plurality of imaging devices are used, a method is used in which an average value of each calculation result by an appropriate number of pairs selected from the two imaging devices is obtained as a position.
The distance calculation unit 106 handles video signals picked up by a plurality of image pickup devices, but the number is not limited to three, and in the case of n (1 to n), the output is a combination of two selected from n Calculate the output for only a few minutes.
Since the switch 108 does not include the output of the fault imaging device detected by the fault detection unit 104, for example, when there are four imaging devices and the inputs A to D of the distance calculation unit 106, as shown in FIG. Can be configured. The outputs of the distance calculation unit 106 are AB output, BC output, CD output, DA output, AC output, and BD output, and the switch 108 adds all these outputs. First adder 301,
A second adder 302 that adds a set that does not include the A output, BC, CD, and BD;
A third adder 303 for adding a set not including the B output, A-C, C-D, and D-A;
A fourth adder 304 for adding a set not including the C output, AB, BD, DA;
A fifth adder 305 for adding a set that does not include the D output, AB, BC, and AC;
A set that does not include A and B outputs, CD output,
A set that does not include B and C outputs, AD output,
A set that does not include C and D outputs, AB output,
A set that does not include D and A outputs, BC output,
A set that does not include A and C outputs, BD output,
A set that does not include B and D outputs, AC output,
And select one of them according to the failure condition so as not to include the failed imaging device, and connect to the subsequent stage.

When the imaging devices 101a, 101b, and 101c configured with three eyes are operating normally, as shown in FIG. 4A, the distance from the three combinations of the imaging devices 101a and 101b, 101b and 101c, and 101c and 101a. Is estimated.
When the imaging apparatus 101a fails, as shown in FIG. 4B, a two-lens operation is performed, and the distance is estimated from the combination of the imaging apparatuses 101b and 101c.
Even when the imaging apparatus 101b fails, as shown in FIG. 4C, a two-lens operation is performed, and the distance is estimated from the combination of the imaging apparatuses 101c and 101a.
Even when the imaging device 101c fails, as shown in FIG. 4D, a two-lens operation is performed, and the distance is estimated from the combination of the imaging devices 101a and 101b.
In this way, it is possible to realize a stereo image processing apparatus that can continue operation in the remaining two imaging devices even if the one imaging device fails.
In any of the cases of FIGS. 4B, 4C, and 4D, when the failure detection unit 104 detects a failure, the communication unit 109 connects to an external maintenance department and notifies the failure.
In the case of using the three types of imaging devices 101a, 101b, and 101c, the operation cannot be continued if the imaging devices of two or more types are in failure. That is, in the case of using three or more imaging devices, the operation cannot be continued when (n-1) or more imaging devices are out of order.

It is a functional block diagram explaining one Example of a multi-eye camera. It is a figure explaining the principle which acquires distance information with an imaging device. It is a figure explaining the combination output in the case of a 4 eye camera. It is a figure explaining the operation state in the case of a trinocular camera.

Explanation of symbols

  101a, 101b, 101c ... imaging device, 102a, 102b, 102c ... frame memory, 103a, 103b, 103c ... histogram creation circuit, 104 ... failure detection unit, 105a, 105b, 105c ... filter, 106 ... distance calculation unit, 107 ... Adder, 108... Switch, 109.

Claims (3)

A multi-lens camera that arranges a plurality of imaging devices of three or more, selects a predetermined number of sets, each set of two units, from the plurality of imaging devices, and measures a distance to a subject,
Failure detection means for monitoring video data of the plurality of imaging devices and detecting a failure;
A multi-lens camera comprising a distance calculation device that measures a distance to a subject by a set of imaging devices remaining except for an imaging device in which a failure is detected by a failure detection means. A multi-lens camera that arranges a plurality of imaging devices of three or more, selects a predetermined number of sets, each set of two units, from the plurality of imaging devices, and measures a distance to a subject,
Failure detection means for monitoring video data of the plurality of imaging devices and detecting a failure;
A distance calculation device that measures the distance to the subject by a set of imaging devices remaining except for the imaging device in which the failure detection unit has detected the failure; and
A multi-lens camera comprising: failure notification means for notifying the outside of the failure by detecting the failure of the failure detection means.   3. The multi-view camera according to claim 1, wherein the failure detection means is a histogram creation circuit.

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