JP2011227306A - Complex eye camera - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a camera capable of minimizing a parallax in the case of forming an image having an enlarged view angle from a plurality of camera images, also, capable of securing overlapping of the view angles required for image synthesis, and then, capable of satisfactorily synthesizing wide view angle images upon far-distance photographing, and also, upon close-distance photographing, and enabling 3D photographing.SOLUTION: The complex eye camera includes two cameras a and b having the same horizontal viewing angle α, the cameras a and b are arranged so that optical axes of the cameras a and b cross each other at an angle of 0<θ<α on a plane including the lens centers of the cameras a and b, and a center-to-center distance of the lenses of the cameras a and b is sufficiently reduced, and then, image synthesizing processing is performed, accordingly, an image having a view angle wider than α is formed, and also, the center-to-center distance of the lenses is set small, accordingly, a parallax difference is reduced, and good synthesis of the images having the wide view angle can be achieved upon the far-distance photographing, also, upon the close-distance photographing. Besides, with the installation of a structure of automatically controlling a change of the distance between the lenses and the optical axis angle or with the installation of a manual movable part, the wide view angle images and the 3D images can simultaneously be photographed.

Description

  The present invention relates to a compound eye camera, and more particularly to a compound eye camera capable of synthesizing a good wide viewing angle image from a plurality of camera images, and a compound eye camera capable of 3D photography.

  In order to realize a camera with a wide viewing angle, there are a method using a wide-angle lens and a method for realizing by combining a captured image of a compound eye camera. However, wide-angle lenses are expensive and have a problem that requires distortion correction processing to cause barrel distortion. Also, since a wide-field image is acquired with an image sensor for a standard lens, there is a problem that resolution deteriorates. is there.

  As a method using a compound eye camera, many binocular panoramas have been proposed as a method for acquiring an image having a double angle of view. For example, in “Panorama Camera Arrangement Method and its Construction Method” proposed in Patent Document 1, a method has been devised in which imaging lenses are arranged so as to overlap in the vertical direction, the center of the lens in the horizontal direction is aligned, and there is little parallax. . However, even with this method, parallax remains, and there remains a major problem of vertical field angle shift in a close image in the vertical direction and a problem of vertical parallax.

  Therefore, the same applicant as the present application filed a patent application entitled “Compound-eye camera and camera application device” (Japanese Patent Application No. 2010-11707). (Hereinafter referred to as “previous application.”) In this prior application, the optical axis is set in parallel in the case of two cameras when limited to the case where a wide viewing angle image is generated by the image synthesis method. The feature is that an image with a wide viewing angle that is exactly twice the camera angle of view can be acquired and the distance can be measured.

  FIG. 2 is a configuration diagram of a compound eye camera according to the first embodiment of the previous application. In the previous application, the distance between the lenses of the cameras a and b is not affected by the size of the image pickup device of the camera and the size of the lens and the lens periphery is limited as a method for avoiding the problem of mixed perspective in near-field photography. It is possible to reduce the distance and to reduce the parallax in the common photographing part of the two cameras. However, in this case, when a sufficiently distant view with a wide viewing angle is taken, the overlapping portion of image information obtained by the two cameras becomes small.

  In general, in image synthesis, feature extraction is performed in a common area of a subject of an acquired image, and matching of corresponding feature points that can be regarded as the same feature point is performed, thereby performing seamless image synthesis. Therefore, when the distance between the lenses is reduced in the previous application, there is a problem in that the common area of the subject becomes farther as the optical axis is parallel. That is, there is a problem that it is not a compound-eye camera that can be compatible with sufficient long-distance shooting even if it is oriented toward short distance or medium distance.

JP 2002-369060 A

  The present invention makes it possible to minimize parallax when generating an image with an enlarged viewing angle from a plurality of camera images, and to ensure an overlap of viewing angles necessary for image composition, and a wide field of view that is good for both far-field photography and foreground photography. An object of the present invention is to realize a camera that can synthesize a corner image and to provide a camera that can also perform 3D shooting.

  In the first aspect of the present invention, two optical cameras a and b having the same horizontal angle of view α (or vertical angle of view β) are provided, and the optical axis a2 of the camera a on a plane including the lens centers of the cameras a and b. And the optical axis b2 of the camera b intersect the horizontal angle of view α (or vertical angle of view β) at a horizontal crossing angle θ (or vertical crossing angle λ) of 0 <θ <α (or 0 <λ <β). Thus, the lens center a1 of the camera a and the lens center b1 of the camera b are arranged so as to have a sufficiently small distance.

  As in the first aspect of the invention, the optical axes of the two cameras are arranged so as to intersect at a horizontal crossing angle θ of 0 <θ <α on a plane including the lens centers of the two cameras having a horizontal angle of view α. Thus, it is possible to realize an overlap for image composition with respect to a distant view image at the same time as realizing a wide viewing angle. If the distance between the lenses is sufficiently small, an image with little parallax can be obtained for a close-up view. In other words, it is possible to realize overlapping images necessary for both far-field photography and near-field photography, and it is possible to realize image acquisition that allows suitable image composition.

  A straight line that bisects a narrow angle among the angles formed by the two optical axes on the same plane and passing through the intersection of the two optical axes will be represented as an average optical axis Xab below.

  In the invention of claim 2, four identical cameras a, b, e, and f having a horizontal angle of view α and a vertical angle of view β are provided, and both the cameras a and b and the cameras e and f are claimed in claim 1. On the plane formed by the average optical axis Xab of the cameras a and b and the average optical axis Xef of the cameras e and f, βm = 2 arctan ( | Cos (θ / 2) | × tan (β / 2)) (or αm = 2 arctan (| cos (λ / 2) | × tan (α / 2)) where 0 <λ <βm In this way, the crossing is made at a vertical crossing angle λ (or a horizontal crossing angle θ satisfying 0 <θ <αm), and the distance between the lenses of the cameras a and e and the cameras b and f is arranged sufficiently small.

  If these lenses are lenses having a vertical angle of view β as in the invention of claim 2, both the horizontal direction and the vertical direction can be obtained by intersecting the vertical direction with a vertical crossing angle λ satisfying 0 <λ <βm. A wide viewing angle can be realized, and image acquisition suitable for both far-field photography and near-field photography can be realized.

  Further, as in the invention of claim 3, at least one compound eye camera of claim 1 or claim 2 may be provided, and these compound eye cameras (/ and single eye cameras) may be combined.

  If the first or second aspect is combined as in the third aspect of the invention, if the multiple of the angle of view α or β is within a range of less than 180 degrees, it is further possible for both far-field photography and foreground photography. Suitable image acquisition with a wide viewing angle becomes possible.

  Further, as in the invention of claim 4, the compound-eye camera of claims 1 to 3 may be provided, and an image composition unit may be provided.

  If the image composition unit is provided as in the fourth aspect of the invention, a compound eye camera capable of generating a wide viewing angle image suitable for both far-field photography and near-field photography becomes possible.

  In a fifth aspect of the present invention, when a plurality of cameras with a zoom function are used, the optical axis angle control unit, the camera field angle detection unit, and the optical axis are used in order to realize the optical axis crossing conditions of the first to fourth aspects. An intersection angle calculation unit and an optical axis angle operation unit are provided.

  Further, as in the fifth aspect of the invention, if the optical axis angle control unit, the camera angle of view detection unit, the optical axis crossing angle calculation unit, and the optical axis angle operation unit are provided, the angle of view in the case of a plurality of cameras with a zoom function is provided. It is possible to change the intersection of the optical axes following the change of the above, and the compound-eye camera according to any one of claims 1 to 4 is possible for any angle of view.

  In addition to the invention of claim 5, the invention of claim 6 includes an inter-lens distance slide control unit and a slide movable unit.

  According to the sixth aspect of the present invention, if the inter-lens distance slide control unit and the slide movable unit are provided in addition to the camera of the fifth aspect, the slide movable unit is instructed by the inter-lens distance control unit at the time of photographing a wide viewing angle image. The distance between the lenses is made the first distance suitable for wide viewing angle image shooting, and the distance between the lenses is set to a second distance larger than the first distance in the case of 3D shooting. By widening the viewing angle and the 3D shooting by sliding the slide movable portion with the instruction and simultaneously changing the angle according to the 3D shooting condition by controlling with the optical axis angle moving portion according to the instruction of the optical axis angle control unit. A compound-eye camera that can be switched and photographed can be realized. The first distance is typically the minimum distance, but is not limited thereto. The second distance is typically about 6.5 cm, but is not limited to this. The sliding operation may be performed along a straight line, or may be performed along a curve (including a curve) or a line connecting a plurality of straight lines.

  In the invention of claim 7, the inter-lens distance optical axis angle interlocking slide movable part is provided.

  If the inter-lens distance optical axis angle-linked slide movable portion is provided as in the invention of claim 7, the inter-lens distance is manually slid at the time of wide viewing angle photographing, and the first suitable for wide viewing angle image photographing. The optical axis crossing angle of the compound eye camera of claim 1 can be realized at the same time, and the distance between the lenses can be manually slid and expanded to a second distance larger than the first distance at the time of 3D shooting. By realizing the parallax for 3D shooting at a suitable angle, a compound eye camera that can switch between wide viewing angle shooting and 3D shooting can be realized. As above, the first distance is typically the minimum distance, but is not limited thereto. The second distance is typically about 6.5 cm, but is not limited to this. The sliding operation may be performed along a straight line, or may be performed along a curve (including a curve) or a line connecting a plurality of straight lines.

  In the case of the compound eye camera according to claims 1 to 3, the optical axis is imaged by a multiple of a horizontal crossing angle θ or (and / or a vertical crossing angle λ) with respect to the horizontal field angle α and the vertical field angle β of the camera. The angle of the horizontal angle of view can be expanded at the same time, and the angle of the adjacent horizontal angle of view can be set to δ = α-θ or (and the vertical angle of view overlap angle ε = β-λ). A common field angle area for alignment required for image composition can be secured. When used as an image input camera such as a personal computer, an image having a wide viewing angle can be produced by performing image composition processing such as a panoramic composition method in the personal computer.

  In the compound eye camera according to the fourth aspect of the present invention, since the image composition unit is built in, an image having a wide viewing angle can be produced by the camera alone.

  In the case of claim 5, even when the angle of view is changed by the zoom function, it is possible to guarantee an appropriate angle of view overlap necessary for obtaining a wide angle of view image, and a suitable wide angle of view image income or a composite image becomes possible. This has the effect of enabling panoramic photography with a zoomed-in distant view.

  In the case of Claim 6 thru | or 7, there exists an effect which can implement | achieve the camera which can perform wide viewing angle imaging | photography and 3D imaging | photography, without increasing the number of cameras, and in the case of Claim 6, in a mobile telephone etc. In the case of claim 7, since the structure of the movable part is simple, there is an effect that a low-priced product can be realized.

It is a compound eye camera lineblock diagram of a 1st embodiment of the present invention. It is a compound eye camera lineblock diagram of a 1st embodiment of a previous application. It is an angle-of-view relationship explanatory drawing of the 1st Embodiment of this invention. It is a vertical view angle side explanatory view of the first embodiment of the present invention. It is horizontal surface angle upper surface explanatory drawing of 1st Example of this invention. It is a detailed top view of the horizontal field angle of the first embodiment of the present invention. It is an angle-of-view three-dimensional explanatory drawing of 1st Example of this invention. It is a compound eye camera block diagram of the 2nd Embodiment of this invention. It is an angle-of-view three-dimensional explanatory drawing of the 2nd Embodiment of this invention. It is a compound-eye camera block diagram of the 3rd Embodiment of this invention. The form figure using the personal computer of the 4th embodiment of the present invention It is a compound eye camera block diagram of the 5th Embodiment of this invention. It is an image composition part processing figure of a 5th embodiment of the present invention. It is an angle-of-view change by the zoom of the 6th Embodiment of this invention, and an optical axis crossing angle explanatory drawing. It is a compound eye camera processing figure of the 6th Embodiment of this invention. It is a compound eye camera block diagram of the 6th Embodiment of this invention. It is a compound eye camera block diagram of the 7th Embodiment of this invention. It is a compound eye camera processing figure of the 8th Embodiment of this invention. It is a compound eye camera image figure of the 8th Embodiment of this invention. It is a compound eye camera external view of the 9th Embodiment of this invention.

  An embodiment of a compound eye camera of the present invention will be described.

(First embodiment)
FIG. 1 is a block diagram of a compound eye camera according to a first embodiment of the present invention relating to claim 1. In FIG. 1, the camera is composed of a camera a having a lens center a1 and a camera b having a lens center b1 having the same horizontal angle of view α. The optical axes are a2 and b2, the imaging elements are a3 and b3, and the lens centers a1 and b1 are defined. The optical axis a2 and the optical axis b2 are arranged so as to intersect at a horizontal intersection angle θ satisfying 0 <θ <α on a plane including the same.

  FIG. 3 is an explanatory view of the angle of view of the first embodiment of the present invention relating to claim 1. In the case of distant shooting where the subject can be regarded as ∞ far, the image is equivalent to the case where the inter-lens distance in FIG. 1 is regarded as 0. Therefore, when discussing the relationship of the angle of view at ∞, FIG. It can be discussed in FIG. 3 where one camera is translated so that the distance between the lenses becomes zero. As the object becomes asymptotically approaching from ∞ farther, the common object area occupying the captured image becomes larger as shown in FIG.

  As can be seen from the parallel movement relationship between FIGS. 1 and 3, the sum of the horizontal angles of view reflected on the image sensors of camera a and camera b is α + θ, and a wide viewing angle can be realized. In addition, it is possible to guarantee a horizontal angle of view overlapping angle of δ = α−θ even for a distant view including ∞ far, and to ensure a horizontal common area of the image sensor. However, first, it will be described that the apparent vertical angle of view when the compound-eye camera of claim 1 is regarded as one camera is not β.

  FIG. 4 is a side view for explaining a vertical angle of view of the first embodiment of the present invention relating to claim 1. 4 is a view of the camera a of FIG. 1 as seen from the side, passing through the lens center a1 and perpendicular to the optical axis a2 and the vertical field angle direction as the Z axis. The imaging range on the plane 401 having the optical axis a2 as a normal line is 402 at the upper end and 403 at the lower end. Assuming that the distance between the point 404 where the optical axis a2 and the plane 401 intersect with the lens center a1 is H, the Z coordinate value U of the upper end 402 can be expressed as U = H × if the vertical field angle β is expressed in radians. It is represented by tan (β / 2).

  FIG. 5 is a horizontal view angle top explanatory view of the first embodiment of the present invention relating to claim 1. In FIG. 5, when the direction passing through the lens center a1 and parallel to the average optical axis Xab is the Y axis, and the line connecting the lens centers of the two cameras a and b is the X axis, the optical axis a2 is inclined from the Y axis. It is a figure when the camera and the imaging range when viewing are viewed from directly above the camera. The optical axis a2 forms an angle 501 with respect to the Y axis. Hereinafter, what will happen to the imaging range in the Z-axis direction at the point 501 is shown. 502 is a plane passing through the point 501 and having the optical axis a2 as a normal line, and the point 503 is a point where the plane and the optical axis intersect. At this time, it can be seen that the angle 505 formed by the plane 502 and the X axis at the point 504 where the plane 502 intersects the X axis is equal to the angle formed by the optical axis a2 and the Y axis.

  Accordingly, the angle formed by the optical axis a2 and the Y axis is θ / 2 (radian), the distance between the lens center a1 and the point 503 is H, and the distance between the lens center a1 and the point 504 is K. At this time, a relationship of H = K × sin (θ / 2) is established between H, K, and θ / 2. Therefore, the Z coordinate value U at the upper end of the imaging range at the point 501 can be expressed as U = K × sin (θ / 2) × tan (β / 2) in consideration of the equation from FIG.

The following shows how K can be calculated. If the X coordinate value of the point 501 is PX and the Y coordinate of the point is PY, the X coordinate value L of the point 504 can be calculated as follows.
L = {cos (θ / 2) / sin (θ / 2)} × PY + PX. Since K is equal to the absolute value of L, U = | cos (θ / 2) × PY + PX × sin (θ / 2) | × tan (β / 2). Here, | X | represents the absolute value of X. Therefore, if the apparent vertical field angle when viewing the point 501 from the point 506 is βV (radian), tan (βV / 2) = | cos (θ / 2) + (PX / PY) × sin (θ / 2) The expression | × tan (β / 2) is derived.

  When PX is fixed and PY is increased, the right side of the above formula converges to | cos (θ / 2) | × tan (β / 2). Further, when PX is 0 or more, the right side is always | cos (θ / 2) | × tan (β / 2) or more, and when PX is 0 or less, the right side is always | cos (θ / 2) | × tan (β / 2) or less. Therefore, when βm = 2 arctan (| cos (θ / 2) | × tan (β / 2)), if PX is 0 or more, the apparent vertical angle of view βV is always βm or more and PY is large. As it approaches, it approaches βm. On the other hand, if PX is 0 or less, the apparent angle of view βV is always less than or equal to βm, and approaches Pm as PY increases.

FIG. 6 is a detailed top view of the horizontal angle of view of the first embodiment of the present invention relating to claim 1. FIG. 6 is a detailed view of the relationship between horizontal angles of view similar to FIG. The average optical axis Xab is a straight line that passes through the point where the optical axes of the two lenses intersect and is perpendicular to the X axis. Since the cameras a and b are symmetrical with respect to the average optical axis Xab, the apparent vertical angle of view βV in the gray portion that is the horizontal imaging range in FIG. 6 is always the minimum vertical angle of view for the binocular camera. It is guaranteed that βm = 2arctan (| cos (θ / 2) | × tan (β / 2)) or more.

FIG. 7 is a three-dimensional explanatory view of the first embodiment of the present invention relating to claim 1. In FIG. 7, a thick broken line represents a region obtained by cutting out the imaging range on a plane whose normal is the average optical axis Xab of the cameras a and b. The thick solid line indicates the largest rectangle inscribed in this cut. When this rectangle is regarded as an imaging range of one camera, the vertical angle of view corresponds to the minimum vertical angle of view of the twin-lens camera βm = 2 arctan (| cos (θ / 2) | × tan (β / 2)). To do.

(Second Embodiment)
FIG. 8 is a block diagram of a compound eye camera according to the second embodiment of the present invention relating to claim 2. 8 includes four cameras a, b, e, and f having the same horizontal angle of view α and vertical angle of view β, and both of the cameras a and b and the cameras e and f have a horizontal crossing angle θ according to claim 1. With a compound eye camera crossed at
On the plane formed by the average optical axis Xab of the cameras a and b and the average optical axis Xef of the cameras e and f with respect to an angle of βm = 2 arctan (| cos (θ / 2) | × tan (β / 2)) Xab and Xef are arranged so as to intersect at a vertical intersection angle λ such that 0 <λ <βm.

The range of the angle of view shown in the image sensors of the cameras a, b, c, and d is that the horizontal angle of view of each binocular camera of a, b and e, f is α + θ, but the vertical image of each binocular camera is As described above, the angle is βm = 2arctan (| cos (θ / 2) | × tan (β / 2)) around the center. As can be seen from the same reasoning as in the case of the above and the horizontal angle of view, the vertical angle of view of the two binocular cameras is guaranteed to overlap when intersecting at an angle λ satisfying 0 <λ <βm. At this time, the total angle of view in the vertical direction is βm + λ. However, from the same reasoning, the horizontal angle of view is around the center.
Four-lens camera minimum horizontal field angle αM = 2 arctan (| cos (λ / 2) | × tan ((α + θ) / 2)) If αM is a value sufficiently larger than 0, 0 <λ <βm , Α is guaranteed to be larger than α.

  Therefore, it is possible to widen the viewing angle both horizontally and vertically. In this case, it is possible to guarantee a horizontal angle of view overlapping angle of δ = αM−θ in the horizontal direction and a vertical angle of view overlapping angle of ε = βm−λ in the vertical direction.

  FIG. 9 is a three-dimensional explanatory view of the field of view of the second embodiment of the present invention relating to claim 2. FIG. 9 shows the situation in which the cameras a, b, c, and d intersect horizontally and vertically, and the four corner lines indicating the angle of view of each camera are limited to those corresponding to the four corners of the compound eye camera and are three-dimensional. FIG. In FIG. 9, a thick broken line is a plane having the average optical axis Xabef as the average of the narrower angle formed by the average optical axis Xab and the average optical axis Xef, and the imaging range is cut out by a plane having this Xabef as a normal line. Represents an area. The thick solid line indicates the largest rectangle inscribed in this cut. When this rectangle is regarded as an imaging range of one camera, the vertical angle of view corresponds to βm + λ, and the horizontal angle of view corresponds to αM. The above discussion defines the two-lens horizontal minimum field angle αm and the four-lens minimum vertical field angle βM, and the same relationship holds even if the horizontal and vertical orders are reversed.

(Third embodiment)
FIG. 10 is a block diagram of a compound eye camera according to a third embodiment of the present invention relating to claim 3. In FIG. 10, the cameras a, b from the same camera a, b, c are arranged in the embodiment of claim 1, and the cameras b, c are arranged in the embodiment of claim 1 in the same manner. The total angle of view can be α + 2θ, and the horizontal viewing angle can be further expanded. The enlargement of the vertical angle of view can be realized in the same way, and using the n and m cameras in the range where α + nθ or β + mλ does not exceed 180 degrees in both horizontal and vertical directions, the present invention makes it possible to acquire an image with a wider angle of view. Become.

(Fourth embodiment)
FIG. 11 is a configuration diagram using a personal computer according to the fourth embodiment related to claims 1 to 3 of the present invention. In FIG. 11, the image information 1102 from the compound-eye camera 1101 can be input to the personal computer 1103, and the image synthesis data 1104 can be output by the personal computer 1103 using image synthesis software such as a panorama synthesis method.

(Fifth embodiment)
FIG. 12 is a structural view of a compound eye camera according to a fifth embodiment of the present invention. In FIG. 12, imaging information 1202 from the compound-eye camera 1201 is input to the image composition unit 1203, and the image composition unit 1203 performs image composition processing such as panorama composition and outputs image composition data 1204. As a result, wide screen information can be output.

  FIG. 13 is a processing diagram of the image composition unit of the fifth embodiment related to claim 4 of the present invention. In FIG. 13, imaging information 1302 from the compound-eye camera 1301 is input to the feature extraction unit 1304, and feature point information 1305 is input to the alignment information generation unit 1306. The registration information 1307 is stored in the registration information storage element 1308, the registration information 1309 and the stored registration information 1310 are selected by the registration information selection unit 1311, and the imaging information 1303 and the selected registration information 1312 are pasted together. The image data 1316 input to the mask generation unit, the combined mask information and the imaging information 1314 are input to the color / brightness correction unit 1315, and the combined image data 1316 is output as composite image data.

(Sixth embodiment)
FIG. 14 is an explanatory view of the change in the angle of view by the zoom and the optical axis crossing angle according to the sixth embodiment of the present invention. In a compound eye camera using a plurality of cameras with zoom functions, as shown in FIG. 12, the angle of view of the camera is changed to a wide angle angle of view α and a zoom angle of view α ′. The crossing angle θ is changed to the crossing angle θ ′ during zoom shooting. In general, zooming is not performed in one step, and there are many cameras that can zoom continuously. In the present invention, the intersection angle is changed using an actuator or the like.

  FIG. 15 is a compound eye camera process diagram of the sixth embodiment relating to claim 5 of the present invention. In FIG. 15, the camera angle-of-view information 1502 from a plurality of cameras 1501 with a zoom function is captured by the camera angle-of-view detection unit 1503 to detect the angle-of-view value and output the angle-of-view information and detection information 1504. If the plurality of cameras with zoom function 1501 are not cameras that directly output the angle of view, the angle of view information and detection information 1504 are calculated from the focus information or the captured image information. The optical axis crossing angle detection unit 1505 calculates an optical axis crossing angle 1506 between a plurality of cameras from the view angle information and detection information 1504, sends the calculated optical axis crossing angle 1506 to the optical axis angle control unit 1507, and is an output from the optical axis angle control unit 1507. The optical axis angle control signal 1508 operates the optical axis angle movable unit 1509 to change to an appropriate intersection angle. As a result, even when the angle of view changes due to the zoom function, an appropriate angle of view overlap required for obtaining a wide angle of view image can be guaranteed, and a suitable wide angle of view image income or composite image becomes possible.

  FIG. 16 is a block diagram of a compound eye camera according to the sixth embodiment of the present invention. In FIG. 16, the cameras a and b are rotated manually (or electrically) around the rotation axes a4 and b4 so as to meet the angle of view of the camera, so that the wide field of view can be adjusted according to the zoom lens situation. Enables angle shooting. In FIG. 16, the position of the camera at the time of shooting at the widest viewing angle is indicated by a solid line, and the position where the two cameras are parallel optical axes is indicated by a broken line. Further, if the inter-lens distance Lab at this position is set to about 6.5 cm, an arrangement suitable for 3D imaging is possible.

(Seventh embodiment)
FIG. 17 is a block diagram of a compound eye camera according to the seventh embodiment of the present invention. In FIG. 17, the cameras a and b and the cameras e and f are the two-lens configuration shown in FIG. 16 as viewed from the side. a5 and b5 are rotation axes for changing the vertical angles of the cameras a and b, and e5 and f5 are rotation axes for changing the vertical angles of the cameras e and f, respectively. By processing the camera angles around the horizontal rotation axes a4, b4, e4 and f4 and the vertical rotation axis in accordance with the processing of FIG. 15, a wide viewing angle is possible in both the horizontal and vertical directions. .

(Eighth embodiment)
FIG. 18 is a compound eye camera processing diagram of the eighth embodiment relating to claim 6 of the present invention. FIG. 19 is an image of a compound eye camera according to the eighth embodiment of the present invention. In FIG. 18, in addition to the compound-eye camera 1801 having the configuration shown in FIG. 15 relating to claim 5, an inter-lens distance control unit 1802 and a slide movable unit 1804 are provided. The slide movable unit 1804 is moved by the instruction signal 1803 so that the distance between the lenses is about 6.5 cm (second distance) suitable for 3D photography as shown in FIG. The slide movable unit 1804 is moved by the inter-lens instruction signal 1803 from the control unit 1802, and the inter-lens distance is made sufficiently close as shown in FIG. 19 (first distance). This enables a compound eye camera capable of wide viewing angle shooting and 3D shooting. The first distance is typically the minimum distance, but is not limited thereto. The second distance is not limited to 6.6 cm and may be larger than the first distance. The first distance is the distance in the wide viewing angle shooting mode, and the second distance is the distance in the 3D shooting mode. The direction of the sliding motion is not limited to a straight line as long as the first distance and the second distance described above can be realized, and may be various curves such as a curved line and a plurality of straight lines having angles. Good.

(Ninth embodiment)
FIG. 20 is an external view of a compound eye camera according to a ninth embodiment relating to claim 7 of the present invention. In FIG. 20, an inter-lens distance optical axis angle-linked slide movable unit is provided, and when not in use, the inter-lens distance optical axis angle-linked slide movable unit is manually changed during 3D shooting and wide viewing angle shooting. By using the above-mentioned first distance at the time of viewing angle shooting and the above-mentioned second distance at the time of 3D shooting), a compound eye camera capable of both wide viewing angle shooting and 3D shooting becomes possible. The slide direction may be a straight line or a curved line as described above.

  This is the end of the description of the embodiment.

  The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the invention.

a, b, c, d, e, f Camera identification symbols a1, b1, e1, f1 Lens centers a2, b2, c2, d2, e2, f2 Optical axes a3, b3, e3, f3 Image sensors a4, b4 e4, f4 Horizontal rotation axis a5, b5, e5, f5 Horizontal rotation axis α, α ′ Camera horizontal field angle β Camera vertical field angle βV Apparent vertical field angle αm Binocular camera Minimum horizontal field angle βm Binocular camera Minimum vertical field angle αM Four-camera minimum horizontal field angle βM Four-camera minimum vertical field angle θ, θ ′ Horizontal intersection angle λ Vertical intersection angle δ, δ ′ Horizontal field angle overlap angle ε Vertical field angle overlap angle Xab, optical axis Average optical axis Xef of a2 and optical axis b2 Average optical axis Xabef of optical axis e2 and optical axis f2 Average optical axis of average optical axis Xab and average optical axis Xef

Claims (7)

  Two cameras a and b having the same horizontal angle of view α (or vertical angle of view β) are provided, and the optical axes of the cameras a and b are set on the plane including the lens centers of the cameras a and b. It is arranged so that it intersects the vertical field angle β) at a horizontal crossing angle θ satisfying 0 <θ <α (or a vertical crossing angle λ satisfying 0 <λ <β), and the distance between the lens centers of the cameras a and b is sufficient. A compound-eye camera characterized in that it is arranged in a small size. The horizontal crossing angle θ (or vertical) according to claim 1, comprising four identical cameras a, b, e, and f with a horizontal field angle α and a vertical field angle β. A compound-eye camera intersected at an intersection angle λ), βm = 2 arctan (| cos (θ / 2) | × tan (β / 2))
(Or αm = 2arctan (| cos (λ / 2) | × tan (α / 2))),
On the plane formed by the average optical axis Xab of the cameras a and b and the average optical axis Xef of the cameras e and f, the angle formed by Xab and Xef is a vertical crossing angle λ satisfying 0 <λ <βm (or horizontal satisfying 0 <θ <αm). A compound-eye camera characterized in that the distance between the lenses of the cameras a and e and the cameras b and f is arranged to be sufficiently small so as to intersect at an intersection angle θ).   A compound-eye camera comprising at least one compound-eye camera according to claim 1 or 2 and combining these compound-eye cameras (and / or single-lens cameras).   4. A compound eye camera comprising the compound eye camera according to claim 1 and an image composition unit.   Equipped with multiple cameras with zoom function, optical axis angle control unit, camera field angle detection unit, optical axis crossing angle calculation unit, and optical axis angle operation unit, the camera field angle detection unit obtains the angle of view of the camera with zoom function The optical axis crossing angle calculation unit calculates the crossing angle between the cameras based on the angle of view information from the camera view angle detection unit, and controls the optical axis of the camera by optical axis angle control. A compound eye camera according to any one of claims 1 to 4.   An inter-lens distance slide control unit and a slide movable unit are provided. When shooting a wide viewing angle image, the inter-lens distance control unit slides the slide movable unit according to an instruction from the inter-lens distance control unit to set the inter-lens distance as the first distance. Sometimes the distance between the lenses is extended to the second distance larger than the first distance by sliding the movable movable part according to the instruction from the inter-lens distance control part, and at the same time controlled by the optical axis angle movable part according to the instruction from the optical axis angle control part. 6. The compound-eye camera according to claim 5, wherein the angle is changed to an angle suitable for 3D imaging conditions.   A lens-to-lens distance optical axis angle-linked slide movable part is provided, and when shooting at a wide viewing angle, the distance between lenses is manually slid to the first distance, and at the same time, the optical axis crossing angle of the compound eye camera of claim 1 is realized. A compound eye characterized in that when performing 3D shooting, the distance between the lenses is manually slid and widened to a second distance larger than the first distance, and at the same time, an angle suitable for 3D shooting conditions is set to achieve 3D shooting parallax. camera.