JP2010220067A - Apparatus and method for capturing three-dimensional image - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a three-dimensional (3D) image capturing apparatus capable of easily capturing a high-quality 3D image, even if the number of pixels of an image sensor is a little, while using a general zoom lens. <P>SOLUTION: A 3D image capturing apparatus includes a plurality of cameras 10 to 1(n+1) and a driving means 4. The plurality of cameras 10 to 1(n+1) include lenses 20 to 2(n+1) and image sensors 30 to 3(n+1), respectively, and are disposed in a horizontal direction. The driving means 4 relatively moves positions of the plurality of corresponding image sensors 30 to 3(n+1) with respect to each of the plurality of lenses 20 to 2(n+1) in such a way that horizontal angles-of-view θ0 to θn of the lenses 20-2n closer from a subject, between adjacent ones of the cameras 10 to 1(n+1), become equal to or larger than horizontal angles-of-view θ1 to θ(n+1) of the lenses 21 to 2(n+1) farther from the subject 41, and horizontal angles-of-view θ0 to θ(n+1) of the lens 21 at a closest position from the subject 41 become smaller than horizontal angles-of-view θn, θ(n+1) of the lenses 2n, 2(n+1) at a farthest position form the subject 41. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a stereoscopic image capturing apparatus and a stereoscopic image capturing method using a plurality of cameras that capture a plurality of captured images necessary for generating a stereoscopic image.

  As one of the three-dimensional (three-dimensional) displays, a multi-view three-dimensional display that displays captured images (multi-view images) from multiple viewpoints simultaneously on one display has been developed. A multi-camera array has been proposed as one of the imaging techniques for multi-viewpoint images used in multi-view stereoscopic displays. In a multi-camera array, a plurality of cameras are arranged on a straight line, and a subject is imaged from a plurality of directions. Then, a three-dimensional image is generated by synthesizing regions captured in common by all cameras from among a plurality of captured images.

  In a multi-camera array, when the angle of view of a plurality of cameras is constant, in a camera arranged at a position far from the subject, an unnecessary part in generating a stereoscopic image in a captured image becomes large, and a lens or an image sensor There is a problem that the performance of can not be fully utilized. In addition, a camera located farther from the subject requires a wider-angle lens. When designing all cameras with the widest-angle lens, the camera closer to the subject must There is a problem in that an unnecessary portion becomes large in generating a stereoscopic image, and the performance of the lens and the image sensor cannot be fully utilized. For this reason, when there are few pixels of an image sensor, it is difficult to obtain a high-quality three-dimensional image.

  Further, an invention has been disclosed in which only the part where the subject exists is imaged by shifting the imaging element relative to the lens to the camera farther from the subject (see, for example, Patent Document 1). However, in the invention described in Patent Document 1, in order to use the image sensor effectively, not only the image sensor is shifted with respect to the lens but also the angle of view is changed by adjusting the distance between the lens and the image sensor. However, it is difficult to shift and change the angle of view at the same time with high accuracy, and a special lens is required for mounting.

JP 2007-286521 A

  An object of the present invention is to provide a stereoscopic image capturing apparatus and a stereoscopic image capturing method capable of easily obtaining a high-quality stereoscopic image even when the number of pixels of an imaging element is small using a general zoom lens. That is.

  According to one aspect of the present invention, (b) a plurality of cameras each having a lens and an image sensor and each capturing a captured image for generating a stereoscopic image arranged in a predetermined direction; The predetermined direction angle of view of the lens closest to the subject among the selected cameras is equal to or smaller than the predetermined direction angle of view of the lens far from the subject, and the predetermined direction angle of view of the lens closest to the subject is the subject. 3D image pick-up comprising drive means for relatively moving the positions of a plurality of image pickup elements corresponding to each of the plurality of lenses so as to be smaller than a predetermined direction angle of view of the lens farthest from the lens An apparatus is provided.

  According to another aspect of the present invention, (b) a step of measuring a distance from each lens of a plurality of cameras arranged in a predetermined direction to a subject, and (b) based on the measured distance, A step of calculating a lens angle adjustment amount; and (c) based on the field angle adjustment amount, a predetermined direction angle of view of a lens closer to the subject among adjacent cameras is predetermined of a lens farther from the subject. Each of the plurality of cameras has a predetermined direction angle of view of a lens that is equal to or smaller than the direction angle of view and that is closest to the subject, and smaller than a predetermined direction of view of a lens that is farthest from the subject. A step of moving the position of the image sensor relative to the position of each corresponding lens; and (d) a plurality of cameras each image a subject to generate a stereoscopic image. Stereoscopic imaging method comprising the steps of acquiring each captured image for are provided.

  According to the present invention, there is provided a stereoscopic image capturing apparatus and a stereoscopic image capturing method capable of easily obtaining a high-quality stereoscopic image even when the number of pixels of the imaging element is small using a general zoom lens. be able to.

It is the schematic which shows an example of the stereo image imaging device which concerns on embodiment of this invention. Fig.2 (a)-FIG.2 (e) are schematic which shows an example of the captured image which concerns on embodiment of this invention. It is a block diagram which shows an example of the stereo image imaging device which concerns on embodiment of this invention. It is a flowchart for demonstrating an example of the stereo image imaging method which concerns on embodiment of this invention. It is the schematic which shows an example of the stereo image imaging device which concerns on a 1st modification. FIG. 6A to FIG. 6E are schematic diagrams illustrating an example of a captured image according to the first modification. It is the schematic which shows an example of the stereo image imaging device which concerns on a 2nd modification. FIG. 8A to FIG. 8E are schematic diagrams illustrating an example of a captured image according to the second modification. It is the schematic which shows an example of the stereo image imaging device which concerns on a 3rd modification. FIG. 10A to FIG. 10E are schematic diagrams illustrating an example of a captured image according to the third modification. It is the schematic which shows an example of the stereo image imaging device which concerns on a 4th modification. It is a graph for demonstrating the view angle change of the stereo image imaging device which concerns on a 4th modification. Fig.13 (a)-FIG.13 (i) are schematic which shows an example of the captured image which concerns on a 4th modification. It is the schematic which shows an example of the stereo image imaging device which concerns on a 5th modification. It is a graph for demonstrating the view angle change of the stereo image imaging device which concerns on a 5th modification. Fig.16 (a)-FIG.16 (i) are schematic which shows an example of the captured image which concerns on a 5th modification. It is the schematic which shows an example of the stereo image imaging device which concerns on a 6th modification. Fig.18 (a)-FIG.18 (i) are schematic which shows an example of the captured image which concerns on a 6th modification. It is the schematic which shows another example of the stereo image imaging device which concerns on a 6th modification. FIG. 20A to FIG. 20I are schematic diagrams illustrating other examples of captured images according to the sixth modification. It is the schematic which shows an example of the stereo image imaging device which concerns on a 7th modification. FIG. 22A to FIG. 22F are schematic diagrams illustrating an example of a captured image according to the seventh modification. It is the schematic which shows another example of the stereo image imaging device which concerns on a 7th modification. FIG. 24A to FIG. 24F are schematic views illustrating other examples of the captured image according to the seventh modification. It is the schematic which shows another example of the stereo image imaging device which concerns on a 7th modification. Fig.26 (a)-FIG.26 (f) are schematic which shows another example of the captured image which concerns on a 7th modification. It is the schematic which shows another example of the stereo image imaging device which concerns on a 7th modification. FIG. 28A to FIG. 28F are schematic diagrams illustrating still another example of the captured image according to the seventh modification. It is a graph for demonstrating the view angle change of the stereo image imaging device which concerns on a 7th modification. It is a graph for demonstrating the angle-of-view change of the stereo image imaging device which concerns on other embodiment. It is the schematic which shows an example of the stereo image imaging device which concerns on a 1st comparative example. FIG. 32A to FIG. 32E are schematic diagrams illustrating an example of a captured image according to the first comparative example. It is the schematic which shows an example of the stereo image imaging device which concerns on a 2nd comparative example. FIG. 34A to FIG. 34E are schematic diagrams illustrating an example of a captured image according to the second comparative example.

  Next, embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are denoted by the same or similar reference numerals. However, it should be noted that the drawings are schematic, and the relationship between the thickness and the planar dimensions, the ratio of the thickness of each layer, and the like are different from the actual ones. Therefore, specific thicknesses and dimensions should be determined in consideration of the following description. Moreover, it is a matter of course that portions having different dimensional relationships and ratios are included between the drawings.

  Further, the embodiments described below exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention includes the material, shape, structure, The layout is not specified as follows. The technical idea of the present invention can be variously modified within the scope of the claims.

(Stereoscopic imaging device)
In the embodiment of the present invention, a stereoscopic image capturing apparatus in which a plurality of cameras are arranged in parallel for a vertically placed three-dimensional (3D) display will be described as an example. The “vertical installation type” is a method in which the display surface is set to be vertical and the viewer views the image so as to face the display surface. “Parallel arrangement” means a configuration in which a plurality of cameras are arranged on a straight line and the optical axes of all the cameras are arranged in parallel. Note that the vertical and horizontal directions and the vertical and horizontal directions indicate directions relative to the observer, and do not necessarily coincide with the absolute space directions.

  As shown in FIG. 1, a stereoscopic image capturing apparatus according to an embodiment of the present invention includes a multi-camera array 1, a control device 2, a distance measuring means 3, a driving means (optical zoom means) 4, a storage device 5, and a display device. 6 is provided. The multi-camera array 1 has a plurality (odd number) of cameras 10, 11, 12,..., 1n, 1 (n + 1) arranged at equal intervals on a straight line in a predetermined direction (horizontal direction). In FIG. 1, five cameras 10, 11, 12, 1n, and 1 (n + 1) are shown, but the number of cameras is not particularly limited. Further, the case where the number of cameras 10, 11, 12,..., 1n, 1 (n + 1) is an even number will be described later.

  The plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) respectively capture a plurality of captured images necessary for generating a stereoscopic image (3D image). The captured image includes a still image and a moving image. Each of the plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) includes lenses 20, 21, 22,..., 2n, 2 (n + 1) that form an image of the outside world, and lenses. 20, 21, 22,..., 2n, 2 (n + 1) are provided with imaging elements 30, 31, 32,.

  .., 1n, 1 (n + 1), and the horizontal widths W0, W1, W2,..., Wn, W (n + 1) are the lenses 20 in the imaging areas captured by the cameras 10, 11, 12,. , 21, 22,..., 2n, 2 (n + 1) horizontal field angles (predetermined direction field angles) θ0, θ1, θ2,. The vertical width is defined by the vertical field angles of the lenses 20, 21, 22,..., 2n, 2 (n + 1).

  In the embodiment of the present invention, the horizontal angle of view θ1 of the lens 21 of the camera 11 far from the subject 41 among the adjacent cameras (for example, cameras 10 and 11) is that of the camera 10 closer to the subject 41. It is set to be equal to or larger than the horizontal angle of view θ0 of the lens 20. Further, the horizontal angles of view θn and θ (n + 1) of the lenses 2n and 2 (n + 1) of the cameras 1n and 1 (n + 1) that are farthest from the subject 41 are the lenses 20 of the camera 10 that are closest to the subject 41. Is set to be larger than the horizontal angle of view θ0.

  The horizontal angles of view θ0, θ1, θ2,..., Θn, θ (n + 1) of the lenses 20, 21, 22,..., 2n, 2 (n + 1) are the respective lenses 20, 21, 22,. .., 2n, 2 (n + 1) and the corresponding distances D10, D11, D12, D1n, D1 (n + 1) relative to the respective imaging devices 30, 31, 32,..., 3n, 3 (n + 1) are adjusted. This can be set. For example, in FIG. 1, in the camera 10 that is closest to the subject 41, the distance D10 between the lens 20 and the image sensor 30 is set to be the longest. On the other hand, in the cameras 1n and 1 (n + 1) located farthest from the subject 41, the distances D1n and D1 (n + 1) between the lenses 2n and 2 (n + 1) and the image sensors 3n and 3 (n + 1) are set to be the shortest. ing. In the cameras 11, 12,... Between the camera 10 closest to the subject 41 and the cameras 1 n, 1 (n + 1) farthest from the subject 41, the farther from the subject 41, the closer to the subject 41. The distances D11, D12,... Between the lenses 21, 22,.

  Captured images 111, 112, 113, 114, and 115 captured by the cameras 10, 11, 12, 1n, and 1 (n + 1) are shown in FIGS. 2 (a) to 2 (e), respectively. 2A to 2E, areas that are commonly imaged by all the cameras 10, 11, 12, 1n, 1 (n + 1) (hereinafter referred to as “common imaging area”) 121, 122, Reference numerals 123, 124, and 125 are areas used for generating a stereoscopic image, and are imaged so that the subject 41 fits in this area. The common imaging regions 121, 122, 123, 124, and 125 are imaged so that the ratio of the length to the length (hereinafter referred to as “aspect ratio”) is equal to the aspect ratio of the 3D display. In the embodiment of the present invention, a case will be described in which the imaging elements 30, 31, 32,..., 3n, 3 (n + 1) have the same aspect ratio and 3D display.

  As shown in FIG. 2A, all areas of the captured image 111 captured by the camera 10 located closest to the subject 41 are set as the common imaging area 121. As shown in FIGS. 2B to 2E, in the other cameras 11, 12, 1 n, and 1 (n + 1), each of the common imaging areas 121 captured by the camera 10 that is closest to the subject 41 is provided. The horizontal angles of view θn, θ1, θ12, and θ (n + 1) are set so that the corresponding common imaging regions 122, 123, 124, and 125 are imaged as large as possible.

  As the distance measuring means 3 shown in FIG. 1, for example, a magnetic sensor, an autofocus method, a stereo method, or the like can be employed. The distance measuring means 3 measures a distance L (hereinafter referred to as “imaging distance”) L from the lenses 20, 21, 22,..., 2n, 2 (n + 1) to the imaging surface 42 where the subject 41 is located.

  As the driving means 4, an actuator or the like can be employed. Further, the driving means 4 may be individually provided in a plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1). The drive unit 4 moves the imaging elements 30, 31, 32,..., 3n, 3 (n + 1) relative to each other with respect to the lenses 20, 21, 22,. Accordingly, the distances D10, D11, D12,... Between the lenses 20, 21, 22,..., 2n, 2 (n + 1) and the imaging elements 30, 31, 32,. Adjust D1n and D1 (n + 1). When the distances D10, D11, D12,..., D1n, D1 (n + 1) are increased, the images formed by the lenses 20, 21, 22, ..., 2n, 2 (n + 1) are optically enlarged ( Zoom) and the horizontal angles of view θ0, θ1, θ2,..., Θn, θ (n + 1) of the lenses 20, 21, 22,.

  As the control device 2, a central processing unit (CPU) can be used. As illustrated in FIG. 3, the control device 2 logically uses the view angle adjustment amount calculation unit 101, the view angle setting unit 102, the cutout unit 103, and the stereoscopic image generation unit 104 as modules (logic circuits) that are hardware resources. Prepare.

  The angle-of-view adjustment amount calculation unit 101 is configured based on the imaging distance L measured by the distance measuring unit 3, the imaging conditions stored in the storage device 5 in advance, and the like. The angle-of-view adjustment amounts of 2n and 2 (n + 1) are respectively calculated. The angle-of-view setting unit 102 controls the driving unit 4 based on the angle-of-view adjustment amount calculated by the angle-of-view adjustment amount calculation unit 101, and a plurality of lenses 20, 21, 22, ..., 2n, 2 (n + 1) , 3n, 3 (n + 1) are moved relative to each other, and distances D10, D11, D12,..., D1n, D1 ( n + 1) is adjusted. The cutout unit 103 cuts out (trims) a common imaging region from each of the captured image data stored in the storage device 5. The stereoscopic image generation unit 104 uses the size of the common imaging area captured by the camera 10 located closest to the subject 41 as a reference, and the other cameras 10, 11, 12,..., 1n, 1 (n + 1) To correct (enlarge or reduce) the size of the common imaging area imaged by. Then, the common imaging regions are combined to generate a stereoscopic image (three-dimensional image) for display on the 3D display.

  The display device 6 is a 3D display capable of displaying a stereoscopic image generated by the stereoscopic image generation unit 104.

  The storage device 5 stores captured image data obtained by the imaging elements 30, 31, 32,..., 3n, 3 (n + 1), a stereoscopic image generated by the stereoscopic image generation unit 104, and the like. As the storage device 5, for example, a semiconductor memory, a magnetic disk, an optical disk, or the like can be adopted. ROM and RAM can be used as the semiconductor memory. The ROM can function as a program storage device or the like that stores a program executed in the control device 2 (details of the program will be described later). The RAM can temporarily store data or the like used during program execution processing in the control device 2, or can function as a temporary data memory or the like used as a work area.

(Stereoscopic imaging method)
Next, a stereoscopic image capturing method using the stereoscopic image capturing apparatus according to the embodiment of the present invention will be described with reference to the flowchart of FIG.

  (A) In step S1, the distance measuring means 3 measures the imaging distance L between the subject 41 and the lenses 20, 21, 22,..., 2n, 2 (n + 1). In step S <b> 2, the angle-of-view adjustment amount calculation unit 101 determines each lens 20, 21, 22, based on the imaging distance L measured by the distance measuring unit 3, the imaging conditions stored in the storage device 5, and the like. .., 2n, and 2 (n + 1) are calculated.

  (B) In step S3, the angle-of-view setting unit 102 controls the driving unit 4 based on the angle-of-view adjustment amount calculated by the angle-of-view adjustment amount calculation unit 101, and a plurality of lenses 20, 21, 22,. .., 3n, 3 (n + 1) are moved relative to each other, and the distances D10, D11, D12,. .., D1n, D1 (n + 1) are set. Here, among adjacent cameras (for example, cameras 10 and 11), the horizontal field angle θ0 of the lens 20 closer to the subject 41 is equal to or smaller than the horizontal field angle θ1 of the lens 21 farther from the subject 41, The distance is such that the horizontal angle of view θ0 of the lens 20 closest to the subject 41 is smaller than the horizontal angles of view θn and θ (n + 1) of the lenses 2n, 2 (n + 1) farthest from the subject 41. D10, D11, D12,..., D1n, D1 (n + 1) are adjusted.

  (C) In step S4, the plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) capture the subject 41 and acquire a plurality of captured image data, respectively. The plurality of captured image data are sequentially stored in the storage device 5.

  (D) In step S5, the cutout unit 103 cuts out (trims) a common image pickup area from each of the picked up image data stored in the storage device 5. In step S6, the stereoscopic image generation unit 104 uses the size of the common imaging area captured by the camera 10 closest to the subject 41 as a reference, and the other cameras 10, 11, 12, ..., 1n, The common imaging area imaged by 1 (n + 1) is corrected (enlarged or reduced) so as to have the same size. Then, the stereoscopic image generation unit 104 combines the respective common imaging areas to generate a stereoscopic image (three-dimensional image). The generated stereoscopic image is stored in the storage device 5. The stereoscopic image can be displayed on the display device 6.

  As described above, according to the embodiment of the present invention, the plurality of imaging elements 30, 31, 32,... Corresponding to the plurality of lenses 20, 21, 22,. The distances D10, D11, D12,..., D1n, D1 (n + 1) to 3n, 3 (n + 1) are respectively adjusted, and the horizontal angles of view θ0, θ1, θ2,..., Θn, θ (n + 1) are adjusted. By setting, it is possible to capture a large image of the common imaging region in the plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1). Therefore, even when the number of pixels is small, a captured image including a common imaging region necessary for generating a stereoscopic image can be easily captured with high image quality.

  Next, a first comparative example will be described. As shown in FIG. 31, the stereoscopic image capturing apparatus according to the first comparative example has a plurality of cameras 1010, 1011, 1012,..., 101n, 101 (n + 1) arranged in parallel for a vertically placed 3D display. The multi-camera array 1x is provided. In the first comparative example, the distances between the lenses 1020, 1021, 1022,..., 102n, 102 (n + 1) and the corresponding imaging elements 1030, 1031, 1032,..., 103n, 103 (n + 1). Are equal and the horizontal angles of view θ10, θ11, θ12,..., Θ1n, θ1 (n + 1) of all the lenses 1020, 1021, 1022,.

  32A to 32E, captured images 1041, including common imaging regions 1051, 1052, 1053, 1054, and 1055 captured by a plurality of cameras 1010, 1011, 1012, 101n, and 101 (n + 1). 1042, 1043, 1044 and 1045 are shown. In accordance with the common imaging areas 1054 and 1055 in the cameras 101n and 101 (n + 1) located far from the subject 41 shown in FIGS. 32D and 32E, the subject 41 shown in FIG. The common imaging area 1051 in the camera 1010 at a close position is also reduced, and an unnecessary portion is increased in generating a stereoscopic image. In contrast to the first comparative example, according to the stereoscopic image capturing apparatus according to the embodiment of the present invention, the common imaging regions 121, 122, 123, and 124 are provided as shown in FIGS. 2 (a) to 2 (e). , 125 can be taken large, and a highly accurate stereoscopic image can be obtained.

  Next, a second comparative example will be described. As shown in FIG. 33, the stereoscopic image capturing apparatus according to the second comparative example has a plurality of cameras 1060, 1061, 1062,..., 106n, 106 (n + 1) arranged in parallel for a vertical 3D display. The multi-camera array 1y is provided. In the second comparative example, the imaging elements 1080, 1081, 1082,..., 108n, 108 (n + 1) become more distant from the object 41, and the lenses 1070, 1071, 1072,. ) With respect to the position.

  34 (a) to 34 (e) include common imaging areas 1101, 1102, 1103, 1104, and 1105 captured by a plurality of cameras 1060, 1061, 1062,..., 106n, 106 (n + 1). The captured images 1091, 1092, 1093, 1094, and 1095 are shown. In the second comparative example, the common imaging regions 1101, 1102, 1103 and 1103, 1092, 1094, 1095 in the size of the captured images 1091, 1092, 1093, 1094, 1095 in all the cameras 1060, 1061, 1062,. 1104 and 1105 can be imaged. However, in the second comparative example, the lenses 1070, 1071, 1072,..., 107n, 107 (n + 1) are used in order to effectively use the image sensors 1080, 1081, 1082,..., 108n, 108 (n + 1). ) With respect to the lenses 1070, 1071, 1072,..., 107n, 107 (n + 1). Although the horizontal angles of view θ20, θ21, θ22,..., Θ2n, θ2 (n + 1) are adjusted, the shifts of the image sensors 1080, 1081, 1082,. It is difficult to adjust the angles of view θ20, θ21, θ22,..., Θ2n, θ2 (n + 1) at the same time with high accuracy. 1070,1071,1072, ···, 107n, 107 (n + 1) is required. Compared to the second comparative example, the stereoscopic image capturing apparatus according to the embodiment of the present invention has a relatively high-accuracy stereoscopic image with a simple configuration such as a general driving unit (optical zoom unit) 4. Can be easily obtained.

  Further, the series of procedures shown in FIG. 4 can be executed by controlling the stereoscopic image pickup apparatus shown in FIG. 1 by a program of an algorithm equivalent to FIG. This program may be stored in the storage device 5, for example. Further, the program is stored in a computer-readable storage medium, and the storage medium is read into the storage device 5 of the stereoscopic image capturing apparatus, whereby the series of procedures according to the embodiment of the present invention can be executed. . Here, the “computer-readable storage medium” means a medium that can store a program such as a computer memory, a magnetic disk, and an optical disk. Specifically, a memory card, CD-ROM, MO disk, etc. are included in the “computer-readable storage medium”.

(First modification)
As a first modification, a case will be described in which a plurality of cameras are congested and arranged for a vertical 3D display. “Congestion placement” is a configuration in which multiple cameras are placed on a straight line and the cameras are tilted toward the subject so that the optical axes of the lenses of all the cameras intersect at a certain point in space (subject). Means.

  As shown in FIG. 5, the stereoscopic image capturing apparatus according to the first modification includes a multi-camera array 1a in which a plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are congested. The plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are arranged on a straight line. The plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are optical axes A0, A1, A2,. .., An, A (n + 1) are arranged to be inclined toward the subject 41 so that the subject 41 intersects at a certain point. In the first modified example, as with the stereoscopic image capturing apparatus shown in FIG. 1, the imaging elements 30, 31, 32, corresponding to the lenses 20, 21, 22,..., 2n, 2 (n + 1) .., 3n, 3 (n + 1) and distances D10, D11, D12,..., D1n, D1 (n + 1) are adjusted to adjust the horizontal angles of view θ0, θ1, θ2,. , Θ (n + 1) are set. The other configuration is substantially the same as that of the stereoscopic image capturing apparatus shown in FIG.

  6A to 6E, captured images 131 and 132 including common imaging regions 141, 142, 143, 144, and 145 captured by the cameras 10, 11, 12, 1n, and 1 (n + 1). , 133, 134, 135 are shown. In the case of the congestion arrangement, the shapes of the common imaging regions 141, 142, 143, 144, and 145 are trapezoids due to the influence of keystone distortion. For this reason, at the time of generating a stereoscopic image, keystone correction is performed by the stereoscopic image generating unit 104 on the common imaging regions 141, 142, 143, 144, and 145.

  As described above, according to the first modification, even when a plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are congested and arranged for a vertical 3D display, a stereoscopic image is generated. It is possible to easily pick up a plurality of picked-up images necessary for image quality with high image quality.

(Second modification)
As a second modification, a case where a plurality of cameras are arranged in parallel for a flat-type 3D display will be described. The “flat type” is a method in which the display surface is leveled and the viewer looks down on the display surface.

  As shown in FIG. 7, the stereoscopic image capturing apparatus according to the second modification includes a multi-camera array 1b in which a plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are arranged in parallel. In the second modification, as with the stereoscopic image pickup apparatus shown in FIG. 1, the image pickup devices 30, 31, 32, and 32n corresponding to the lenses 20, 21, 22,..., 2n, 2 (n + 1) are provided. .., 3n, 3 (n + 1) and distances D10, D11, D12,..., D1n, D1 (n + 1) are adjusted to adjust the horizontal angles of view θ0, θ1, θ2,. , Θ (n + 1) are set. When imaging for a flat-type 3D display, the plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are respectively imaged with a depression angle obtained by shifting the subject 41 from the position directly above. To do. The other configuration is substantially the same as that of the stereoscopic image capturing apparatus shown in FIG.

  8A to 8E, captured images 151 and 152 including common imaging regions 161, 162, 163, 164, and 165 captured by the cameras 10, 11, 12, 1n, and 1 (n + 1). , 153, 154, 155. In the case of the flat type, a portion that can be used for generating a stereoscopic image in the captured images 151, 152, 153, 154, and 155 is a portion excluding the vertical width W11 corresponding to the depression angle.

  For this reason, as shown in FIG. 8A, the area that can be imaged to the maximum by the camera 10 closest to the subject 41 except the vertical width W11 corresponding to the depression angle is the common imaging area 161. Thus, the vertical angle of view of the lens 20 is set. The horizontal angle of view θ0 is set according to the vertical angle of view and the aspect ratio of the 3D display. Further, as shown in FIGS. 8B to 8E, in the other cameras 11, 12, 1n, and 1 (n + 1), the common imaging regions 163, 163, 164, and 165 are horizontally arranged to be as large as possible. The angles of view θ1, θ2, θn, and θ (n + 1) are set. The vertical field angle is set according to the horizontal field angles θ1, θ2, θn, θ (n + 1) and the aspect ratio of the 3D display.

  Thus, according to the second modification, even when a plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are arranged in parallel for a flat 3D display, a stereoscopic image is generated. It is possible to easily pick up a plurality of picked-up images necessary for image quality with high image quality.

(Third Modification)
As a third modification, a case will be described in which a plurality of cameras are congested and arranged for a flat-type 3D display.

  As shown in FIG. 9, the stereoscopic image capturing apparatus according to the third modification includes a multi-camera array 1c in which a plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are congested. The plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are arranged on a straight line. The plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are optical axes A0, A1, A2,. .., An, A (n + 1) are arranged to be inclined toward the subject 41 so that the subject 41 intersects at a certain point. In the third modification, as with the stereoscopic image pickup apparatus shown in FIG. 1, the image pickup devices 30, 31, 32, and 32n corresponding to the lenses 20, 21, 22,..., 2n, 2 (n + 1) are provided. .., 3n, 3 (n + 1) and distances D10, D11, D12,..., D1n, D1 (n + 1) are adjusted to adjust the horizontal angles of view θ0, θ1, θ2,. , Θ (n + 1) are set. The other configuration is substantially the same as that of the stereoscopic image capturing apparatus shown in FIG.

  10A to 10E, the captured images 171 and 172 including the common imaging regions 181, 182, 183, 184 and 185 captured by the cameras 10, 11, 12, 1 n and 1 (n + 1) are shown. , 173, 174, 175. In the case of the congestion arrangement, the shape of the common imaging regions 181, 182, 183, 184, and 185 becomes a trapezoid due to the influence of keystone distortion, as in the first modification. For this reason, when the stereoscopic image is generated, the keystone correction is performed by the stereoscopic image generation unit 104 on the common imaging regions 181, 182, 183, 184, and 185.

  Further, in the case of the flat type, as in the second modified example, of the captured images 111, 112, 113, 114, and 115, the portion that can be used for generating the stereoscopic image excludes the vertical width W12 corresponding to the depression angle. Part. For this reason, as shown in FIG. 10A, in the camera 10 located closest to the subject 41, the area that can be imaged to the maximum with the portion excluding the vertical width W12 corresponding to the depression angle is the common imaging area 181. Thus, the vertical angle of view of the lens 20 is set. The horizontal angle of view θ0 is set according to the vertical angle of view and the aspect ratio of the 3D display.

  Further, as shown in FIGS. 10B to 10E, in the other cameras 11, 12, 1n, and 1 (n + 1), the common imaging regions 182, 183, 184, and 185 are horizontally arranged to be as large as possible. The angles of view θn, θ1, θ2, θ (n + 1) are set. The vertical field angle is set according to the horizontal field angles θn, θ1, θ2, θ (n + 1) and the aspect ratio of the 3D display.

  As described above, according to the third modification, even when a plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are congested and arranged on a flat 3D display, a stereoscopic image can be generated. A plurality of necessary captured images can be easily captured with high image quality.

(Fourth modification)
As a fourth modification, a method for optimizing the angle of view of a lens in a stereoscopic image pickup apparatus for a vertical 3D display in which a plurality of cameras are arranged in parallel will be described. “Optimizing the angle of view of the lens” means that the angle of view of the lens is set so that the common imaging region is imaged as large as possible.

  As shown in FIG. 11, the stereoscopic image capturing apparatus according to the fourth modified example includes lenses 20, 21, 22, 23, 24, 25, 26, 27, and 28 and corresponding imaging elements 30, 31, 32, 33. , 34, 35, 36, 37, and 38 are each provided with a multi-camera array 1d in which nine cameras 10, 11, 12, 13, 14, 15, 16, 17, and 18 are arranged in parallel. In FIG. 11, nine cameras 10, 11, 12, 13, 14, 15, 16, 17, and 18 are shown, but the number of cameras is not particularly limited. In the fourth modification, the horizontal widths of the imaging areas of the cameras 10, 11, 13 are W0, W1, W3, respectively, and the cameras 10, 11, 12, 13, 14, 15, 16, 17, 18 are photographed. Let the interval be d. The other configuration is substantially the same as that of the stereoscopic image capturing apparatus shown in FIG.

  As shown in FIG. 12, the horizontal angles of view θ0, θ1, θ2, θ3, θ4, θ5, θ6, θ7, and θ8 of the lenses 20, 21, 22, 23, 24, 25, 26, 27, and 28 Is the smallest in the fifth camera 10 from the left from the left and the largest in the zeroth and eighth cameras 17, 18 from the left farthest from the subject 41, and is monotonic at regular intervals between them. It is increasing. Here, the horizontal angles of view θ 0, θ 1, θ 2, θ 3, θ 4, θ 5, θ 6, θ 7, θ 8 of the lenses 20, 21, 22, 23, 24, 25, 26, 27, 28 are far from the subject 41. It is set so that the horizontal width of the imaging region for each camera increases by twice the imaging interval. That is, as shown in FIG. 11, the horizontal width W0 of the imaging region of the camera 10 that is closest to the subject 41 can be expressed as Equation (1).

W0 = 2 × L × tan (θ / 2) (1)

In the camera 11 adjacent to the camera 10 closest to the subject 41, the horizontal width W1 of the imaging region is a value obtained by adding the imaging region width W0 of the camera 10 and twice the imaging interval d. Thus, the horizontal angle of view θ1 of the lens 21 is set. The horizontal width W1 of the imaging region can be expressed as in Expression (2).

W1 = (W0 / 2 + d) × 2 = W0 + 2d (2)

The vertical field angle of the lens 21 is set according to the horizontal field angle θ1 and the aspect ratio of the 3D display. In the camera 12 adjacent to the camera 10 closest to the subject 41, the horizontal field angle θ2 and the vertical field angle of the lens 22 are set as in the camera 11.

  In the camera 13 adjacent to the camera 11, the lens 23 is set such that the horizontal width W <b> 3 of the imaging region is a value obtained by adding the horizontal width W <b> 0 of the imaging region of the camera 10 and four times the imaging interval d. The horizontal angle of view θ3 is set. The horizontal width W3 of the imaging region can be expressed as in Equation (3).

W3 = W1 + 2d = W0 + 4d (3)

The vertical field angle of the lens 23 is set according to the horizontal field angle θ3 and the aspect ratio of the 3D display. Also in the camera 14 adjacent to the camera 12, the horizontal field angle θ 4 and the vertical field angle of the lens 24 are set similarly to the camera 13. Similarly, in the subsequent cameras 15, 16, 17, and 18, the horizontal field angles θ5 of the lenses 25, 26, 27, and 28 are increased so that the horizontal width of the imaging region increases by twice the imaging interval for each camera. , Θ6, θ7, and θ8 are set.

  13A to 13I, common imaging areas 201, 202, 203, 204, 205, and 206 captured by the cameras 10, 11, 12, 13, 14, 15, 16, 17, and 18 are shown. , 207, 208, and 209, captured images 191, 192, 193, 194, 195, 196, 197, 198, 199 are shown. By optimizing the horizontal angles of view θ0, θ1, θ2, θ3, θ4, θ5, θ6, θ7, and θ8 of the lenses 20, 21, 22, 23, 24, 25, 26, 27, and 28, the common imaging region 201 is obtained. , 202, 203, 204, 205, 206, 207, 208, 209 can be imaged as large as possible.

  Further, the horizontal angles of view θ0, θ1, θ2, θ3, θ4, θ5, θ6, θ7, and θ8 of the lenses 20, 21, 22, 23, 24, 25, 26, 27, and 28 are imaged areas for each camera. It is not necessary to change the width in the horizontal direction so as to increase twice the imaging interval, and may be set to be larger than twice as necessary. Further, in the fourth modification example, the case of the parallel arrangement for the vertical 3D display has been described, but the optimization can be similarly performed even in the case of the flat arrangement or the congestion arrangement.

(Fifth modification)
As a fifth modification, in a stereoscopic image capturing apparatus in which a plurality of cameras are arranged in parallel for a vertically placed 3D display, when the viewpoint position is fixed at the center of the 3D display, the number of lens images is equal to the number of parallaxes that enter both eyes. A case where the corner is optimized will be described.

  As shown in FIG. 14, the stereoscopic image capturing apparatus according to the fifth modified example has lenses 20, 21, 22, 23, 24, 25, 26, 27, 28 and corresponding imaging elements 30, 31, 32, 33. , 34, 35, 36, 37, and 38 are provided with a multi-camera array 1e in which nine cameras 10, 11, 12, 13, 14, 15, 16, 17, and 18 are arranged in parallel. In FIG. 14, nine cameras 10, 11, 12, 13, 14, 15, 16, 17, and 18 are shown, but the number of cameras is not particularly limited. The other configuration is substantially the same as that of the stereoscopic image capturing apparatus shown in FIG.

  Here, assuming that the number of parallax entering both eyes when the viewpoint is fixed at the center of the 3D display is 5 parallaxes, the second, third, fourth, fifth, and sixth from the left corresponding to five parallaxes as shown in FIG. As for the cameras 13, 11, 10, 12, and 14, the horizontal angle of view θ3 is set so that the horizontal width of the imaging region for each camera increases by twice the imaging interval. , Θ1, θ0, θ2, and θ4 are set. For the 0th, 1st, 7th, and 8th cameras 15, 16, 17, and 18 at both ends corresponding to parallax that does not enter both eyes, the horizontal angles of view θ5, θ6, θ7, and θ8 are set to be equal to the maximum. Yes.

  16 (a) to 16 (i), common imaging regions 221, 222, 223, 224, 225, and 226 captured by the cameras 10, 11, 12, 13, 14, 15, 16, 17, and 18 are shown. , 227, 228, 229, captured images 211, 212, 213, 214, 215, 216, 217, 218, 219 are shown.

  As described above, according to the fifth modification, when the viewpoint position is fixed at the center of the 3D display, the horizontal angles of view θ0, θ1, and the horizontal angles of view of the lenses 20, 21, 22, 23, and 24 are equal to the number of parallaxes that enter both eyes. It is also possible to optimize θ2, θ3, and θ4.

(Sixth Modification)
In the embodiment of the present invention, the case where the imaging device and the 3D display have the same aspect ratio has been described. In the sixth modification, the imaging condition when the imaging device and the 3D display have different aspect ratios will be described. .

  First, the case where the aspect ratio of the image sensor is 4: 3 and the 3D display has a wide aspect ratio (16: 9) will be described. As shown in FIG. 17, the stereoscopic image capturing apparatus according to the sixth modification includes a multi-camera array 1f in which nine cameras 10, 11, 12, 13, 14, 15, 16, 17, and 18 are arranged in parallel. Is provided. The other configuration is substantially the same as that of the stereoscopic image capturing apparatus shown in FIG.

  18 (a) to 18 (i), common imaging regions 241, 242, 243, 244, 245, and 246 captured by the cameras 10, 11, 12, 13, 14, 15, 16, 17, and 18 are shown. Captured images 231, 232, 233, 234, 235, 236, 237, 238, and 239 including 247, 248, and 249 are shown. The common imaging areas 241, 242, 243, 244, 245, 246, 247, 248, and 249 are imaged in accordance with a wide aspect ratio (16: 9).

  As shown in FIG. 18A, in the camera 10 located closest to the subject 41, the horizontal angle of view θ0 of the lens 20 is set so that the common imaging region 241 uses the horizontal direction of the captured image 231 to the maximum extent. Has been. The vertical field angle of the lens 20 is set according to the horizontal field angle and the wide aspect ratio (16: 9) of the 3D display.

  Further, as shown in FIGS. 18B to 18I, in the other cameras 11, 12, 13, 14, 15, 16, 17, and 18, the common imaging regions 242, 243, 244, 245, and 246 are used. , 247, 248, 249 are set so that the horizontal angles of view θ1, θ2, θ3, θ4, θ5, θ6, θ7, θ8 of the lenses 21, 22, 23, 24, 25, 26, 27, 28 are set. The The vertical angles of view of the lenses 21, 22, 23, 24, 25, 26, 27, and 28 are the horizontal angles of view θ2, θ3, θ4, θ5, θ6, θ7, θ8, and the wide aspect ratio of the 3D display (16: 9 ).

  Next, a case where the imaging element has a wide aspect ratio (16: 9) and the 3D display has an aspect ratio of 4: 3 will be described. As shown in FIG. 19, the stereoscopic image capturing apparatus according to the sixth modification is a multi-camera array 1g in which nine cameras 10, 11, 12, 13, 14, 15, 16, 17, 18 are arranged in parallel. Is provided. The other configuration is substantially the same as that of the stereoscopic image capturing apparatus shown in FIG.

  20 (a) to 20 (i), common imaging areas 261, 262, 263, 264, 265, 266 taken by the cameras 10, 11, 12, 13, 14, 15, 16, 17, 18 are shown. Captured images 251,252,253,254,255,256,257,258,259 including 267,268,269 are shown. The common imaging areas 261, 262, 263, 264, 265, 266, 267, 268, and 269 are imaged in accordance with the aspect ratio (4: 3) of the 3D display.

  As shown in FIG. 20A, in the camera 10 located closest to the subject 41, the vertical angle of view of the lens 20 is set so that the common imaging region 261 uses the vertical direction of the captured image 251 to the maximum extent. . The horizontal field angle θ0 of the lens 20 is set according to the vertical field angle and the aspect ratio (4: 3) of the 3D display.

  Further, as shown in FIGS. 20A to 20I, in the other cameras 11, 12, 13, 14, 15, 16, 17, and 18, the common imaging regions 262, 263, 264, 265, and 266 are used. , 267, 268, 269, the horizontal angles of view θ1, θ2, θ3, θ4, θ5, θ6, θ7, θ8 of the lenses 21, 22, 23, 24, 25, 26, 27, 28 are set. The The vertical field angles of the lenses 21, 22, 23, 24, 25, 26, 27, and 28 are set to the horizontal field angles θ2, θ3, θ4, θ5, θ6, θ7, θ8, and the aspect ratio (4: 3) of the 3D display. Set accordingly.

  As described above, according to the sixth modification, even when the image pickup devices 30, 31, 32, 33, 34, 35, 36, 37, 38 and the 3D display have different aspect ratios, a plurality of images necessary for generating a stereoscopic image are required. The captured images 231, 232, 233, 234, 235, 236, 237, 238, 239 and the plurality of captured images 251, 252, 253, 254, 255, 256, 257, 258, 259 are easily captured with high image quality. be able to.

(Seventh Modification)
As a seventh modification, a case where an even number of cameras are provided will be described. As shown in FIG. 21, the stereoscopic image capturing apparatus according to the seventh modification is for a vertical 3D display, and has a plurality of cameras 10, 11, 12, 13,..., 1n, 1 (n + 1). A multi-camera array 1h arranged in parallel is provided. In the center of the multi-camera array 1h, the two cameras 10 and 11 are located closest to the subject 41. The other configuration is substantially the same as that of the stereoscopic image capturing apparatus shown in FIG.

  22A to 22F, the imaging including common imaging areas 281, 282, 283, 284, 285 and 286 captured by the cameras 10, 11, 12, 13, 1 n and 1 (n + 1). Images 271, 272, 273, 274, 275 and 276 are shown. As shown in FIGS. 22A and 22B, a common imaging region is a region where the captured images 271 and 272 captured by the two cameras 10 and 11 located closest to the subject 41 are the same. 281,282. As shown in FIGS. 22C to 22F, images are taken by the other cameras 12, 13, 1n, and 1 (n + 1) so that the common imaging regions 283, 284, 285, and 286 are as large as possible.

  FIG. 23 shows a multi-camera array 1i in which a plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are congestedly arranged for a vertical 3D display. 24A to 24F, common imaging regions 301, 302, 303, 304, 305 including images captured by a plurality of cameras 10, 11, 12, 13, 1n, 1 (n + 1) are shown. The captured images 291, 292, 293, 294, 295 and 296 including 306 are shown.

  FIG. 25 shows a multi-camera array 1j in which a plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are arranged in parallel for a flat 3D display. 26A to 26F, partial common imaging areas 321, 322, 323, 324, 325, and 326 imaged by a plurality of cameras 10, 11, 12, 13, 1 n, 1 (n + 1) are shown. Captured images 311, 312, 313, 314, 315, 316 including The common imaging areas 321, 322, 323, 324, 325, and 326 are respectively set in areas excluding the width W 13 corresponding to the depression angle.

  FIG. 27 shows a multi-camera array 1k in which a plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are congested and arranged for a flat-type 3D display. 28A to 28F, common imaging regions 341, 342, 343, 344, 345, and 346 captured by a plurality of cameras 10, 11, 12, 13, 1n, and 1 (n + 1) are shown. The captured images 331, 332, 333, 334, 335, and 336 are shown respectively. The common imaging areas 341, 342, 343, 344, 345, and 346 are respectively set in areas excluding the width W14 corresponding to the depression angle.

  Next, an example of optimizing the angle of view when there are an even number of cameras (9 cameras) will be described with reference to FIG. First, as shown by a solid line in FIG. 29, when the rate of change of the angle of view is monotonously increased, the horizontal angles of view of the fourth and fifth cameras from the left closest to the subject are the same and are far from the subject. The horizontal angle of view increases monotonically as the camera is positioned. Also, as shown by the dashed line in FIG. 29, when optimizing only the number of parallaxes, if the parallax entering both eyes when the viewpoint is fixed at the center of the 3D display is 6 parallaxes, it is closest to the subject 41 The horizontal angle of view of the 4th and 5th cameras from the left is made the same, and it is monotonically increased to the cameras of the 2nd and 7th cameras from the left. Take it.

  As described above, according to the seventh modification, even when an even number of cameras are used, as in the case of an odd number, a plurality of captured images necessary for generating a stereoscopic image can be easily captured with high image quality. Can do.

(Other embodiments)
As described above, the present invention has been described according to the embodiment. However, it should not be understood that the description and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  For example, as shown in FIG. 30, the angle of view of the lens may be constant in steps. In FIG. 30, the angle of view of the lens is constant from the second camera from the left to the sixth camera including the fourth camera closest to the subject. The field angles of the lenses of the 0th, 1st, 7th, and 8th cameras from the left are constant and larger than the field angles of the lenses of the 2nd to 6th cameras.

  In addition, the driving unit 4 has a plurality of imaging elements 30, 31, 32,..., 3n, 3 (n + 1) corresponding to the plurality of lenses 20, 21, 22,. ) Is moved, but a plurality of lenses 20, 21, 22,... Corresponding to a plurality of imaging elements 30, 31, 32,..., 3n, 3 (n + 1) are described. .., 2n, 2 (n + 1) can be adjusted by moving the relative positions D10, D11, D12,..., D1n, D1 (n + 1). Furthermore, the distance is obtained by moving both of the plurality of image pickup devices 30, 31, 32,..., 3n, 3 (n + 1) and the corresponding lenses 20, 21, 22, ..., 2n, 2 (n + 1). D10, D11, D12,..., D1n, D1 (n + 1) can be adjusted.

  In addition, the plurality of cameras 10, 11, 12,..., 1n, 1 (n + 1) are not necessarily arranged at equal intervals.

  As described above, the present invention naturally includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

1, 1 a, 1 c, 1 d, 1 e, 1 f, 1 g, 1 h, 1 i, 1 j, 1 k ... multi-camera array 2 ... control device 3 ... distance measuring means 4 ... drive means 5 ... storage device 6 ... display device 10, 11 12, 13, 14, 15, 16, 17, 18, 1n, 1 (n + 1) ... camera 11, 12, 1n, 1 ... camera 12 ... camera 12, 13, 1n, 1 ... camera 13 ... camera 20, 21, 22, 23, 24, 25, 26, 27, 28, 2n, 2 (n + 1)... Lens 30, 31, 32, 33, 34, 35, 36, 37, 38, 3 n, 3 (n + 1). ... Subject 42 ... Imaging surface 101 ... Field angle adjustment amount calculation unit 102 ... Field angle setting unit 103 ... Cutout unit 104 ... stereoscopic image generation unit

Claims (9)

A plurality of cameras each having a lens and an image sensor, and each capturing a captured image for generating a stereoscopic image arranged in a predetermined direction;
The lens in a predetermined direction angle of view of the lens closer to the subject among the adjacent cameras is equal to or smaller than a predetermined direction angle of view of the lens farther from the subject and closest to the subject Relative positions of the plurality of imaging elements corresponding to the plurality of lenses so that the predetermined direction angle of view is smaller than the predetermined direction angle of view of the lens farthest from the subject. A three-dimensional image capturing apparatus comprising:   The stereoscopic image capturing apparatus according to claim 1, wherein the angle of view in a predetermined direction of the lens monotonously increases from the camera closest to the subject to the camera farthest from the subject. The plurality of cameras are arranged at equal intervals,
3. The camera in a position farther from the subject increases a width in a predetermined direction of a photographing area photographed by the camera by a value not less than twice a photographing interval of the camera. The three-dimensional image pickup device described in 1.   The stereoscopic image according to claim 1, wherein a rate at which the angle of view in the predetermined direction of the lens changes is different between a lens side closest to the subject and a lens side farthest from the subject. Imaging device. Ranging means for measuring the distance from the plurality of lenses to the subject;
An angle-of-view adjustment amount calculation unit that calculates the amount of view angle adjustment of each of the plurality of lenses based on the measured distance;
5. The image forming apparatus according to claim 1, further comprising an angle-of-view setting unit configured to cause the driving unit to set a predetermined direction angle of view of the plurality of lenses based on the angle-of-view adjustment amount. Stereoscopic imaging device. A cutout unit that cuts out a plurality of common imaging regions from a plurality of captured images respectively captured by the plurality of cameras;
The stereoscopic image capturing apparatus according to claim 1, further comprising: a stereoscopic image generating unit that generates a stereoscopic image by combining the plurality of common imaging regions.   The stereoscopic image capturing apparatus according to claim 6, wherein, when the number of the cameras closest to the subject is one, an imaging area captured by the one camera is set as the common imaging area.   7. The common imaging region according to claim 6, wherein when there are two cameras closest to the subject, the common imaging region is an area where the captured images respectively captured by the two cameras match each other. Stereo imaging device. Measuring a distance from each lens of a plurality of cameras arranged in a predetermined direction to a subject;
Calculating an angle of view adjustment amount of each of the lenses based on the measured distance;
Based on the field angle adjustment amount, the predetermined direction field angle of the lens closer to the subject among adjacent cameras is equal to or smaller than the predetermined direction field angle of the lens farther from the subject, and the subject The plurality of cameras corresponding to the positions of the imaging elements corresponding to each other so that the predetermined direction angle of view of the lens located closest to the lens is smaller than the predetermined direction angle of view of the lens located farthest from the subject. Moving relative to the position of each lens;
A method for capturing a stereoscopic image, wherein the plurality of cameras respectively capture the subject and acquire captured images for generating a stereoscopic image.

Images