JP2012189826A - Device and method for acquiring object image, program, and recording medium - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a device for acquiring an object image, which can perform processing on an object image more effectively.SOLUTION: A device for acquiring an object image includes an optical system for optically acquiring an object image, a device for acquiring data on conditions for acquiring the object image, a device for acquiring data on an angle of optical axis of the optical system with respect to a horizontal plane corresponding to the data on conditions for acquiring the object image, and a device for changing an angle of optical axis of the optical system with respect to the horizontal plane based on the data on an angle of optical axis of the optical system with respect to the horizontal plane.

Description

  One embodiment of the present invention relates to at least one of an apparatus for acquiring an image of an object, a method for acquiring an image of an object, a program, and a recording medium.

  Conventionally, various techniques relating to at least one of an apparatus for acquiring an image of an object, a method of acquiring an image of an object, a program, and a recording medium have been disclosed.

  For example, Japanese Patent Laid-Open No. 2010-088093 (Patent Document 1) discloses a storage unit that stores a plurality of reference image data corresponding to the posture of the main body, and a posture detection unit that detects the posture of the main body. An imaging unit that images a subject and acquires image data; and the corresponding reference image data is acquired from the storage unit based on the posture detected by the posture detection unit, and the acquired reference image data is used. An imaging apparatus comprising: an object detection unit that detects the imaging object from the image data acquired by the imaging unit; for the imaging object, reference image data corresponding to a posture of the main body A plurality of storage steps; an attitude detection step for detecting the attitude of the main body; an imaging step for imaging a subject and acquiring image data; The corresponding reference image data stored in the storage step is acquired based on the posture detected in the force detection step, and the imaging target is acquired from the image data acquired in the imaging step using the acquired reference image data. An imaging method comprising: an object detection step for detecting an object; a program for causing a computer to execute the imaging method; and a computer-readable recording medium on which the program is recorded is disclosed. Yes.

  However, in the prior art, it has been difficult to acquire an object image so that more effective processing of the object image can be performed.

  A first object of the present invention is to provide an apparatus for acquiring an object image capable of performing more effective processing of the object image.

  The second object of the present invention is to provide a method for acquiring an image of an object capable of performing more effective processing of the object image.

  A third object of the present invention is to provide a program for causing a computer to execute a method for acquiring an object image capable of performing more effective processing of the object image.

  A fourth object of the present invention is to provide a computer-readable recording medium in which a program for causing a computer to execute a method for acquiring an object image capable of performing more effective processing of the object image is recorded. It is.

  A first aspect of the present invention is an apparatus that acquires an image of an object, an optical system that optically acquires the image of the object, a device that acquires data related to conditions for acquiring the image of the object, and the image of the object A device for obtaining data on the angle of the optical axis of the optical system with respect to a horizontal plane corresponding to data relating to a condition for obtaining the light, and light of the optical system with respect to the horizontal plane based on data on the angle of the optical axis of the optical system with respect to the horizontal plane An apparatus for acquiring an image of an object including a device for changing an angle of an axis.

  According to a second aspect of the present invention, there is provided a method for acquiring an image of an object, wherein the image of the object is optically acquired by using an optical system, and data relating to a condition for acquiring the image of the object is acquired. Obtaining the angle data of the optical axis of the optical system with respect to the horizontal plane corresponding to the data relating to the condition for obtaining the image of the object, and the horizontal plane based on the data of the angle of the optical axis of the optical system with respect to the horizontal plane. A method for obtaining an image of an object, comprising changing an angle of an optical axis of the optical system with respect to the optical system.

  A third aspect of the present invention is a program that causes a computer to execute the method for acquiring an image of an object according to the second aspect of the present invention.

  A fourth aspect of the present invention is a computer-readable recording medium on which a program according to the third aspect of the present invention is recorded.

  According to the first aspect of the present invention, it is possible to provide an apparatus that acquires an image of an object that can perform more effective processing of the object image.

  According to the second aspect of the present invention, it is possible to provide a method for acquiring an object image capable of performing more effective processing of the object image.

  According to the third aspect of the present invention, it is possible to provide a program that causes a computer to execute a method for acquiring an object image that can perform more effective processing of the object image.

  According to a fourth aspect of the present invention, there is provided a computer-readable recording medium storing a program for causing a computer to execute a method for acquiring an object image capable of performing more effective processing of the object image. It becomes possible to do.

FIG. 1 is a diagram illustrating an example of an apparatus for acquiring an image of an object according to the first embodiment of the present invention. FIG. 2 is a diagram illustrating an example of changing the angle of the optical axis of the optical system with respect to a horizontal plane in the apparatus for acquiring an image of an object according to the first embodiment of the present invention. FIG. 3 is a diagram illustrating an example of a method for acquiring an image of an object according to the second embodiment of the present invention and an example of a program according to the third embodiment of the present invention. FIG. 4 is a diagram illustrating an example of a method for acquiring a differential polarization degree with respect to polarization of light incident on an apparatus that acquires an image of an object from a road surface. FIG. 5 is a diagram illustrating an example of processing of a polarization image of light incident on an apparatus that acquires an image of an object from a road surface. FIG. 6 is a diagram showing an example of a recording medium according to the fourth embodiment of the present invention.

For example, an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a diagram illustrating an example of an apparatus for acquiring an image of an object according to the first embodiment of the present invention.

  FIG. 2 is a diagram illustrating an example of changing the angle of the optical axis of the optical system with respect to a horizontal plane in the apparatus for acquiring an image of an object according to the first embodiment of the present invention.

  An example of an apparatus for acquiring an image of an object according to the first embodiment of the present invention shown in FIG. 1 is an apparatus (image acquisition apparatus) 100 that acquires an image of an object, and optically acquires an image of the object. Optical system 101, device (condition data acquisition device) 103 for acquiring data related to the condition for acquiring the object image, and data on the angle of the optical axis of the optical system 101 with respect to the horizontal plane corresponding to the data related to the condition for acquiring the object image And a device (angle changing device) 106 that changes the angle of the optical axis of the optical system 101 with respect to the horizontal plane based on the data of the angle of the optical axis of the optical system 101 with respect to the horizontal plane. A device for acquiring an image of an object.

  1 further includes a device (sensor device) 102 that converts an object image (optical image) optically acquired by the optical system 101 into an electrical signal, and an object image. It includes a device (data storage device) 104 that stores data relating to data to be acquired and data on the angle of the optical axis of the optical system 101 with respect to the horizontal plane corresponding to data relating to the condition to acquire an object image.

  Examples of the image acquisition device 100 include a camera such as an in-vehicle camera that captures a landscape in the traveling direction of the car.

  The optical system 101 forms an image of light incident from an object. Examples of the optical system 101 include an optical system including at least one of a lens and a mirror. The optical system 101 may be a zoom lens. The optical system 101 may be arranged such that the focal point of the optical system 101 exists on the light receiving surface of the sensor device 102. That is, the parallel light incident on the image acquisition apparatus 100 or the optical system 101 may be imaged on the light receiving surface of the sensor device 102.

  Examples of the sensor device 102 include a combination of a charge coupled device (CCD) that converts an optical image into an electrical analog signal and an A / D converter that converts an analog signal into a digital signal.

  Examples of the condition data acquisition device 103 include a GPS (Global Positioning System) receiver. A GPS receiver as the condition data acquisition device 103 generates time and position data of the image acquisition apparatus 100 by receiving signals from three or more GPS satellites. That is, the date, time, and time when the image acquisition device 100 acquires the image of the object, and the latitude, longitude, and direction data of the position of the image acquisition device 100 when the image acquisition device 100 acquires the image of the object The data regarding the conditions of the image acquisition apparatus 100 is created. The condition data acquisition device 103 transmits data related to the conditions of the image acquisition device 100 to the angle data acquisition device 105 when the image acquisition device 100 acquires an image of an object.

The data regarding the conditions of the image acquisition device 100 are, for example,
24 stage data from 0:00 to 23:00 to which the time belongs when the image acquisition device 100 acquires the image of the object, as time data when the image acquisition device 100 acquires the image of the object,
Four-stage data of March, June, September, and December as data of the moon when the image acquisition device 100 acquires the image of the object (when the image acquisition device 100 acquires the image of the object When the moon is from March to May, from June to August, from September to November, and from December to February, the moon when the image acquisition device 100 acquires the image of the object is , Data for March, June, September, and December are provided),
North, northeast, east, southeast, south, closest to the direction in which the image acquisition device 100 acquires the image of the object, as data of the direction of the image acquisition device 100 when the image acquisition device 100 acquires the image of the object, 8 levels of data in southwest, west and northwest directions,
As the latitude data of the position of the image acquisition device 100 when the image acquisition device 100 acquires the image of the object, −60 degrees, −30 closest to the latitude of the position where the image acquisition device 100 acquires the image of the object 5 levels of latitude, 0, 30 and 60 degrees latitude, and
-90 degrees and 0 degrees closest to the longitude of the position at which the image acquisition apparatus 100 acquires the image of the object, as the longitude data of the position of the image acquisition apparatus 100 when the image acquisition apparatus 100 acquires the image of the object , 90 degrees, and 180 degrees latitude data.

  Examples of the data storage device 104 include a memory (storage device) such as a random access memory (RAM) or a read only memory (ROM). The data stored in the data storage device 104 includes a table of data regarding the condition for acquiring the object image and data on the angle of the optical axis of the optical system 101 with respect to the horizontal plane corresponding to the data regarding the condition for acquiring the object image. Data stored in the data storage device 104 is transmitted to the angle data acquisition device 105.

  For example, the angle of the optical axis of the optical system 101 with respect to the horizontal plane (the angle of the image acquisition device 100 with respect to the horizontal plane) is the direction of sunlight when the image acquisition device 100 acquires the image of the object, and the image acquisition device 100 has the image of the object. Since it depends on the direction of the image acquisition device 100 when acquiring the data, the data on the condition of acquiring the image of the object and the data of the angle of the optical axis of the optical system 101 with respect to the horizontal plane corresponding to the data on the condition of acquiring the image of the object Are associated with each other, the time data when the image acquisition device 100 acquires the object image, the moon data when the image acquisition device 100 acquires the object image, and the image acquisition device 100 the object Data of the direction of the image acquisition device 100 when acquiring the image of the image, latitude data of the position of the image acquisition device 100 when the image acquisition device 100 acquires the image of the object, and Optical data for a horizontal plane corresponding to data related to conditions for acquiring an image of an object, such as longitude data of the position of the image acquisition apparatus 100 when the acquisition apparatus 100 acquires an image of the object, and data related to conditions for acquiring an image of the object Data on the angle of the optical axis of the system 101 may be included.

  Data of time when the image acquisition device 100 acquires the image of the object, data of the moon when the image acquisition device 100 acquires the image of the object, and image acquisition device when the image acquisition device 100 acquires the image of the object 100 direction data, latitude data of the position of the image acquisition device 100 when the image acquisition device 100 acquires the image of the object, and position of the image acquisition device 100 when the image acquisition device 100 acquires the image of the object The data regarding the condition for acquiring the image of the object, such as the data of the longitude, and the data on the angle of the optical axis of the optical system 101 with respect to the horizontal plane corresponding to the data regarding the condition for acquiring the image of the object are preferably discrete data. It is. In this case, the amount of data included in the table of data on the angle of the optical axis of the optical system 101 with respect to the horizontal plane corresponding to the data related to the condition for acquiring the object image and the data related to the condition for acquiring the object image is reduced. It becomes possible.

  As an example of the above table, for example, a table as shown in Table 1 can be cited.

角度データ取得デバイス１０５としては、例えば、中央演算処理装置（ＣＰＵ）又はＦＰＧＡ（Ｆｉｅｌｄ−Ｐｒｏｇｒａｍｍａｂｌｅ Ｇａｔｅ Ａｒｒａｙ）及びメモリ（記憶装置）を含むユニット等が挙げられる。図１に示す像取得装置１００においては、角度データ取得デバイス１０５は、センサーデバイス１０２、条件データ取得デバイス１０３、データ記憶デバイス１０４、及び角度変更デバイス１０６と接続されている。角度データ取得デバイス１０５に含まれるメモリには、条件データ取得デバイス１０３によって取得された物体の像を取得する条件に関するデータを読み出すこと、条件データ取得デバイス１０３によって取得された物体の像を取得する条件に関するデータに基づいてデータ記憶デバイス１０４に記憶されたテーブルから条件データ取得デバイス１０３によって取得された物体の像を取得する条件に関するデータに対応する水平面に対する光学系１０１の光軸の角度のデータを取得すること、及び、角度変更デバイス１０６へ水平面に対する光学系１０１の光軸の角度のデータを送信することをを含む、プログラムが記憶されている。角度データ取得デバイス１０５に含まれるＣＰＵ又はＦＰＧＡは、角度データ取得デバイス１０５に含まれるメモリに記憶されたプログラムを読み込むと共に実行する。

Examples of the angle data acquisition device 105 include a central processing unit (CPU) or a unit including a FPGA (Field-Programmable Gate Array) and a memory (storage device). In the image acquisition apparatus 100 illustrated in FIG. 1, the angle data acquisition device 105 is connected to the sensor device 102, the condition data acquisition device 103, the data storage device 104, and the angle change device 106. The condition included in the memory included in the angle data acquisition device 105 is to read out data relating to the condition for acquiring the object image acquired by the condition data acquisition device 103, and to acquire the object image acquired by the condition data acquisition device 103. Data on the angle of the optical axis of the optical system 101 with respect to the horizontal plane corresponding to the data relating to the condition for obtaining the image of the object obtained by the condition data obtaining device 103 from the table stored in the data storage device 104 based on the data relating to And storing data of the angle of the optical axis of the optical system 101 with respect to the horizontal plane to the angle changing device 106. A CPU or FPGA included in the angle data acquisition device 105 reads and executes a program stored in a memory included in the angle data acquisition device 105.

  When the image acquisition device 100 acquires an image of an object, the angle data acquisition device 105 receives data related to the conditions of the image acquisition device 100 from the condition data acquisition device 103. Next, the angle data acquisition device 105 includes the angle of the optical axis of the optical system 101 with respect to the horizontal plane corresponding to the data related to the condition for acquiring the object image stored in the data storage device 104 and the data related to the condition for acquiring the object image. Refer to the data table. Data of the angle of the optical axis of the optical system 101 with respect to the horizontal plane corresponding to the data relating to the condition for obtaining the object image from the data storage device 104 based on the data relating to the condition for obtaining the object image obtained from the condition data obtaining device 103 Is read and received. Next, the angle data acquisition device 105 transmits data on the angle of the optical axis of the optical system 101 with respect to the horizontal plane to the angle change device 106.

  Examples of the angle changing device 106 include an actuator that changes the angle of the optical axis of the optical system 101 with respect to the horizontal plane based on data on the angle of the optical axis of the optical system 101 with respect to the horizontal plane. The angle changing device 106 receives the data of the angle of the optical axis of the optical system 101 with respect to the horizontal plane transmitted from the angle data acquisition device 105, and based on the data of the angle of the optical axis of the optical system 101 with respect to the horizontal plane, the optical system for the horizontal plane The angle of the optical axis 101 or the angle of the image acquisition device 100 with respect to the horizontal plane is changed.

  An image acquisition apparatus 200 shown in FIG. 2 that is the same or similar to the image acquisition apparatus 100 shown in FIG. 1 includes an optical system 201 and an angle changing device 202. When the angle changing device 202 included in the image acquisition apparatus 200 receives the data of the angle of the optical axis of the optical system 201 with respect to the horizontal plane, the angle changing device 202 displays the data according to the data of the angle of the optical axis of the optical system 201 with respect to the horizontal plane. 2, the angle of the optical axis of the optical system 201 represented by a one-dot chain line in FIG. 2 is changed with respect to the direction parallel to the horizontal plane represented by the straight arrow. The image in the direction parallel to the horizontal plane represented by the straight arrows in FIG. 2 is obtained by rotating the image acquisition device 200 with respect to the support 203 that supports the image acquisition device 200 as indicated by the curved arrows in FIG. The angle θ of the acquisition device 200 is changed.

  After changing the angle of the optical axis of the optical system 101 or the optical system 201 with respect to the horizontal plane or the angle of the image acquisition apparatus 100 or the image acquisition apparatus 200 with respect to the horizontal plane, the image acquisition apparatus 100 or the image acquisition apparatus 200 can be used to Get a statue. In the image acquisition apparatus 100 illustrated in FIG. 1, light incident on an optical system 101 from an object is imaged on the sensor device 102 by the optical system 101. Thereby, an image of the object is optically formed on the light receiving surface of the sensor device 102. The image formed on the light receiving surface of the sensor device 102 is electrically processed and converted into digital image data. The digital image data obtained by the sensor device 102 is transmitted to the angle data acquisition device 105. The memory included in the angle data acquisition device 105 also stores a program for processing digital image data. When the angle data acquisition device 105 receives the digital image data from the sensor device 102, the CPU or FPGA included in the angle data acquisition device 105 receives the digital image data stored in the memory included in the angle data acquisition device 105. Run the program to be processed. As a result, the digital image transmitted from the sensor device 102 is processed in the image acquisition device 100.

  As described above, according to the image acquisition device 100 illustrated in FIG. 1 or the image acquisition device 200 illustrated in FIG. 2, the condition of the image acquisition device 100 that acquires the image of the object when the image acquisition device 100 acquires the image of the object. Accordingly, the angle of the optical axis of the optical system 101 with respect to the horizontal plane or the angle of the image acquisition device 100 with respect to the horizontal plane can be changed. Therefore, the angle of the optical axis of the optical system 101 with respect to the horizontal plane or the horizontal plane so that more effective processing of the image of the object can be performed according to the conditions of the image acquisition apparatus 100 that acquires the image of the object. The angle of the image acquisition device 100 can be changed.

  According to the first embodiment of the present invention, it is possible to provide an apparatus (image acquisition apparatus) 100 or 200 that acquires an object image capable of performing more effective processing of an object image. .

  In the apparatus (image acquisition apparatus) 100 that acquires an image of an object according to the first embodiment of the present invention shown in FIG. 1, the apparatus (image acquisition apparatus) 100 that acquires an image of an object is preferably an optical system. It further includes a device (polarization acquisition device) 107 that acquires polarized light from incident light.

  When the image acquisition apparatus 100 further includes a polarization acquisition device 107, the image acquisition apparatus 100 may be a camera (polarization camera) that acquires an image of polarization of an object.

  Examples of the polarization acquisition device 107 include a polarization filter that acquires polarization from light incident on the optical system 101. The polarized light may be linearly polarized light having electric field vibration planes orthogonal to each other. As shown in FIG. 1, the polarizing filter 107 may be disposed behind the optical system 101 or may be disposed in front of the optical system 101.

  The polarization acquisition device 107 is disposed in the image acquisition device 100 so as to be rotatable around the optical axis of the optical system 101. That is, the image acquisition apparatus 100 may include a device that rotates the polarization acquisition device 107 around the optical axis of the optical system 101. A device that rotates the polarization acquisition device 107 about the optical axis of the optical system 101 is controlled by the user of the image acquisition apparatus 100 or the angle data acquisition device 105 and the polarization acquisition device 107 in response to a signal from the switch. An actuator that rotates around the optical axis of the optical system 101 is included. For example, when the polarization acquisition device 107 is arranged at an angle around the optical axis of the optical system 101, the first having an electric field vibration plane in a certain direction through the polarization acquisition device 107 from light incident on the polarization acquisition device 107. May be obtained. Here, when the polarization acquisition device 107 is rotated by 90 degrees around the optical axis of the optical system 101, the light incident on the polarization acquisition device 107 is orthogonal to the vibration plane of the electric field of the first linearly polarized light through the polarization acquisition device 107. Second linearly polarized light having a vibrating surface of the electric field may be obtained.

  Thus, when the image acquisition apparatus 100 further includes the polarization acquisition device 107, an image of polarized light from the object is obtained. In the image acquisition apparatus 100 shown in FIG. 1, a polarization image of an object is formed on the light receiving surface of the sensor device 102 by the optical system 101 and the polarization acquisition device 107. The polarized image is converted to a digital image by the sensor device 102. A digital image of the polarization image is transmitted to the angle data acquisition device 105. The memory included in the angle data acquisition device 105 may store a program for acquiring information on a polarization image from a digital image of the polarization image. In this case, the CPU or FPGA included in the angle data acquisition device 105 receives the digital image of the polarization image transmitted from the sensor device 102 and stores the polarization image stored in the memory included in the angle data acquisition device 105. A program for acquiring polarization information from an object from a digital image of the image is executed. This makes it possible to obtain polarization information from an object from a digital image of the polarization image. Examples of the information on the polarization from the object include the differential polarization degree and the polarization ratio of the polarization from the object. For example, it becomes possible to calculate the differential polarization degree or polarization ratio of polarized light from an object from a digital image of a polarized image.

The differential polarization degree is the first linearly polarized light and the second linearly polarized light having the vibration planes of the electric fields orthogonal to each other.
Differential polarization degree = | Intensity of first linearly polarized light−Intensity of second linearly polarized light | / | Intensity of first linearly polarized light + Intensity of second linearly polarized light |
It is defined by the formula of

The polarization ratio is the first linearly polarized light and the second linearly polarized light having vibration planes of electric fields orthogonal to each other.
Polarization ratio = | Intensity of first linearly polarized light / Intensity of second linearly polarized light | (or | Intensity of second linearly polarized light / Intensity of first linearly polarized light |)
It is defined by the formula of

  When the image acquisition apparatus 100 further includes the polarization acquisition device 107, a polarization image from the object is obtained, and thus an object image capable of performing more effective processing of the polarization image of the object is acquired. It is possible to provide an apparatus (image acquisition apparatus) 100 that performs the above operation.

  The polarization acquisition device 107 may be arranged in the image acquisition device 100 so that it can be inserted into or removed from the optical path of the optical system 101. For example, the image acquisition apparatus 100 may include a device that moves the polarization acquisition device 107 in a direction perpendicular to the optical axis of the optical system 101. A device that moves the polarization acquisition device 107 in a direction perpendicular to the optical axis of the optical system 101 is a switch that is controlled by the user of the image acquisition apparatus 100 or the angle data acquisition device 105 and a signal from the switch. An actuator is included that moves the polarization acquisition device 107 in a direction perpendicular to the optical axis of the optical system 101 so that the acquisition device 107 is inserted into or removed from the optical path of the optical system 101. For example, when the polarization acquisition device 107 is moved in a direction perpendicular to the optical axis of the optical system 101 so that the polarization acquisition device 107 is inserted into the optical path of the optical system 101, the image acquisition device 100 An image can be acquired. On the other hand, when the polarization acquisition device 107 is moved in a direction perpendicular to the optical axis of the optical system 101 so as to remove the polarization acquisition device 107 from the optical path of the optical system 101, the image acquisition device 100 causes the non-polarization of the object. An image can be acquired.

  FIG. 3 is a diagram illustrating an example of a method for acquiring an image of an object according to the second embodiment of the present invention and an example of a program according to the third embodiment of the present invention.

  An example of a method for acquiring an image of an object according to the second embodiment of the present invention shown in FIG. 3 is a method for acquiring an image of an object, and optically converts an object image by using an optical system. Obtaining (step 301), obtaining data relating to the condition for obtaining the object image (step 303), and data on the angle of the optical axis of the optical system with respect to the horizontal plane corresponding to the data relating to the condition for obtaining the object image. Acquiring an image of the object including obtaining (step 304) and changing the angle of the optical axis of the optical system relative to the horizontal plane (step 305) based on data of the angle of the optical axis of the optical system relative to the horizontal plane Is the method. The method for acquiring the image of the object shown in FIG. 3 further includes converting the image (optical image) of the object optically acquired using the optical system into an electrical signal (step 302). .

  The method for acquiring the object image shown in FIG. 3 is executed by, for example, an apparatus (image acquisition apparatus) for acquiring the object image according to the first embodiment of the present invention as shown in FIGS. . Examples of the image acquisition device include a camera such as an in-vehicle camera that captures a landscape in the traveling direction of the car.

  In step 301, an image of an object is optically acquired by using an optical system. The optical system forms an image of light incident from an object. Examples of the optical system include an optical system including at least one of a lens and a mirror. The optical system may be a zoom lens.

  In step 302, an image (optical image) of an object optically acquired by using an optical system is converted into an electrical signal. The optical image is converted into an electric signal by a sensor or the like, for example. Examples of the sensor include a combination of a charge coupled device (CCD) that converts an optical image into an electrical analog signal and an A / D converter that converts an analog signal into a digital signal. In this case, the optical image is converted into an electrical analog signal by a charge coupled device (CCD), and the analog signal is converted into a digital signal by an A / D converter. The optical system may be arranged such that the focal point of the optical system exists on the light receiving surface of the sensor device. That is, the parallel light incident on the optical system may be imaged on the light receiving surface of the sensor.

  In step 303, data relating to a condition for acquiring an object image is acquired. The condition for acquiring the image of the object is acquired by a GPS (Global Positioning System) receiver or the like, for example. In this case, the GPS receiver receives signals from three or more GPS satellites, thereby creating data for the time to acquire the object image and the position to acquire the object image. That is, data relating to conditions for acquiring an object image such as date, time, or time when acquiring an object image, and latitude and longitude of a position when acquiring the object image, and direction data are created. . When acquiring the image of the object, the data relating to the condition for acquiring the image of the object is used to acquire data on the angle of the optical axis of the optical system with respect to the horizontal plane.

Data related to conditions for acquiring an image of an object are, for example,
24 levels of data from 0:00 to 23:00 to which the time belongs when acquiring the object image, as time data when acquiring the object image,
Four-stage data of March, June, September, and December as the month data when acquiring the object image (the month when acquiring the object image is from March to May, From June to August, from September to November, and from December to February, the months when the object image is acquired are March, June, September, and December, respectively. Data is provided),
8 levels of data in the directions of north, northeast, east, southeast, south, southwest, west, and northwest that are closest to the direction of obtaining the object image, as the direction data for obtaining the object image,
5 of latitudes of −60 degrees, −30 degrees, 0 degrees, 30 degrees, and 60 degrees closest to the latitude of the position from which the object image is acquired as the latitude data of the position when the object image is acquired. Stage data, and
As data of the longitude of the position when acquiring the image of the object, four-stage data of latitudes of −90 degrees, 0 degrees, 90 degrees and 180 degrees closest to the longitude of the position where the image of the object is acquired, etc. Is mentioned.

  In step 304, data on the angle of the optical axis of the optical system with respect to the horizontal plane corresponding to the data relating to the condition for acquiring the object image is acquired.

  In the method of acquiring the object image shown in FIG. 3, the data regarding the condition for acquiring the object image and the data on the angle of the optical axis of the optical system with respect to the horizontal plane corresponding to the data regarding the condition for acquiring the object image are, for example, It is stored in advance in a memory (storage device) such as a random access memory (RAM) or a read only memory (ROM).

  Data stored in advance in a memory or the like includes a table of data on the condition of acquiring the object image and data on the angle of the optical axis of the optical system with respect to the horizontal plane corresponding to the data on the condition of acquiring the object image. Data stored in a memory or the like is used to acquire data on the angle of the optical axis of the optical system with respect to a horizontal plane corresponding to data relating to conditions for acquiring an object image.

  For example, since the angle of the optical axis of the optical system with respect to the horizontal plane depends on the direction of sunlight when acquiring an image of the object and the direction of acquiring the image of the object, The data table of the angle of the optical axis of the optical system with respect to the horizontal plane corresponding to the data related to the condition for acquiring the image is associated with time data when acquiring the object image, when acquiring the object image Data of the object, such as the moon data, the direction data to acquire the object image, the latitude data of the position when acquiring the object image, and the longitude data of the position when acquiring the object image And data on the angle of the optical axis of the optical system with respect to the horizontal plane corresponding to the data on the condition for obtaining the image of the object and the data on the condition for obtaining the object image.

  Time data when acquiring an object image, moon data when acquiring an object image, direction data for acquiring an object image, latitude data for a position when acquiring an object image, and object The data regarding the condition for acquiring the image of the object such as the position longitude data when acquiring the image of the image, and the data on the angle of the optical axis of the optical system with respect to the horizontal plane corresponding to the data regarding the condition for acquiring the image of the object, Preferably, it is discrete data. In this case, reducing the amount of data included in the table of data on the angle of the optical axis of the optical system with respect to the horizontal plane corresponding to the data relating to the condition for obtaining the object image and the data relating to the condition for obtaining the object image. Is possible.

  As an example of the above table, for example, a table as shown in Table 2 can be cited.

ステップ３０４において、物体の像を取得する条件に関するデータは、例えば、中央演算処理装置（ＣＰＵ）又はＦＰＧＡ（Ｆｉｅｌｄ−Ｐｒｏｇｒａｍｍａｂｌｅ Ｇａｔｅ Ａｒｒａｙ）及びメモリ（記憶装置）を含むユニット等によって取得される。上記ユニットに含まれるメモリには、物体の像を取得する条件に関するデータを読み出すこと、物体の像を取得する条件に関するデータに基づいてメモリ等に記憶されたテーブルから物体の像を取得する条件に関するデータに対応する水平面に対する光学系の光軸の角度のデータを取得すること、及び、水平面に対する光学系の光軸の角度のデータを出力することをを含む、プログラムが記憶されている。上記ユニットに含まれるＣＰＵ又はＦＰＧＡは、上記ユニットに含まれるメモリに記憶されたプログラムを読み込むと共に実行する。

In step 304, data related to the condition for acquiring the image of the object is acquired by, for example, a central processing unit (CPU) or a unit including an FPGA (Field-Programmable Gate Array) and a memory (storage device). The memory included in the unit is configured to read out data related to conditions for acquiring an object image, and to acquire conditions for acquiring an object image from a table stored in a memory or the like based on data related to the condition for acquiring the object image. A program is stored that includes obtaining data on the angle of the optical axis of the optical system with respect to the horizontal plane corresponding to the data, and outputting data on the angle of the optical axis of the optical system with respect to the horizontal plane. A CPU or FPGA included in the unit reads and executes a program stored in a memory included in the unit.

  When the data related to the condition for acquiring the object image is acquired in step 303, the data corresponding to the data related to the condition for acquiring the image of the object and the data related to the condition for acquiring the image of the object are stored in step 304. A table of data on the angle of the optical axis of the optical system with respect to the horizontal plane is referred to. Based on the data relating to the condition for acquiring the object image, data on the angle of the optical axis of the optical system with respect to the horizontal plane corresponding to the data relating to the condition for acquiring the object image is read. Next, data on the angle of the optical axis of the optical system with respect to the horizontal plane is output.

  In step 305, the angle of the optical axis of the optical system with respect to the horizontal plane is changed based on the data of the angle of the optical axis of the optical system with respect to the horizontal plane.

  The angle of the optical axis of the optical system with respect to the horizontal plane is changed by, for example, an actuator that changes the angle of the optical axis of the optical system with respect to the horizontal plane based on data on the angle of the optical axis of the optical system with respect to the horizontal plane. In step 304, when data on the angle of the optical axis of the optical system with respect to the horizontal plane is acquired, in step 305, the angle of the optical axis of the optical system with respect to the horizontal plane is changed based on data on the angle of the optical axis of the optical system with respect to the horizontal plane.

  In step 305, after changing the angle of the optical axis of the optical system with respect to the horizontal plane, an image of the object is acquired by using the optical system. Light that enters the optical system from an object is imaged on a sensor by the optical system, for example. Thereby, an image of the object is optically formed on the light receiving surface of the sensor. The image formed on the light receiving surface of the sensor is electrically processed and converted into digital image data. The digital image data obtained by the sensor is transmitted to, for example, a unit including a CPU or FPGA and a memory. A program for processing digital image data is also stored in the memory included in the unit. When the unit receives digital image data from the sensor, the CPU or FPGA included in the unit executes a program for processing the digital image data stored in the memory included in the unit. Thereby, the digital image transmitted from the sensor is processed.

  As described above, according to the method for acquiring the object image, when the object image is acquired, it is possible to change the angle of the optical axis of the optical system with respect to the horizontal plane according to the condition for acquiring the object image. . Therefore, the angle of the optical axis of the optical system with respect to the horizontal plane can be changed so that more effective processing of the object image can be performed in accordance with conditions for acquiring the object image.

  According to the second embodiment of the present invention, it is possible to provide a method for acquiring an object image capable of performing more effective processing of the object image.

  In the method for acquiring an image of an object according to the second embodiment of the present invention shown in FIG. 3, preferably, the method for acquiring an image of the object acquires polarization of light incident on the optical system (step 306). ).

  When the method for acquiring the image of the object further includes acquiring the polarization of the light incident on the optical system, the method for acquiring the image of the object includes, for example, a camera that acquires an image of the polarization of the object (polarization). Executed by the camera).

  The polarization of light incident on the optical system is acquired by, for example, a polarization filter that acquires polarization from light incident on the optical system. The polarized light may be linearly polarized light having electric field vibration planes orthogonal to each other. The polarizing filter or the like may be disposed behind the optical system or disposed in front of the optical system. The polarizing filter or the like is disposed so as to be rotatable around the optical axis of the optical system. The polarizing filter or the like is rotated by a device that rotates the polarizing filter or the like around the optical axis of the optical system. A device that rotates a polarizing filter or the like around the optical axis of the optical system is, for example, a switch controlled by a user or a unit including a CPU or FPGA and a memory and a signal from the switch. Controlled by an actuator that rotates about the optical axis of the optical system. For example, when a polarizing filter or the like is disposed at an angle around the optical axis of the optical system, the first linearly polarized light having a vibration plane of an electric field in a certain direction through light passing through the polarizing filter or the like from light incident on the polarizing filter or the like. May be obtained. Here, when the polarizing filter or the like is rotated by 90 degrees around the optical axis of the optical system, the vibration of the electric field orthogonal to the vibration surface of the first linearly polarized electric field from the light incident on the polarizing filter or the like through the polarizing filter or the like. A second linearly polarized light having a surface may be obtained.

  As described above, when the method for acquiring an image of an object further includes a polarizing filter or the like, an image of polarized light from the object can be obtained. In the method for acquiring the image of the object shown in FIG. 3, the polarization image of the object is formed on the light receiving surface of the sensor by an optical system and a polarization filter. The polarized image is converted to a digital image by the sensor. The digital image of the polarization image is transmitted to a unit including, for example, a CPU or FPGA and a memory. The memory included in the unit may store a program for acquiring information on the polarization image from the digital image of the polarization image. In this case, the CPU or FPGA included in the unit receives the digital image of the polarized image transmitted from the sensor, and from the digital image of the polarized image stored in the memory included in the unit, from the object. Executes a program for acquiring polarization information. This makes it possible to obtain polarization information from an object from a digital image of the polarization image. Examples of the information on the polarization from the object include the differential polarization degree and the polarization ratio of the polarization from the object. For example, it becomes possible to calculate the differential polarization degree or polarization ratio of polarized light from an object from a digital image of a polarized image.

The differential polarization degree is the first linearly polarized light and the second linearly polarized light having the vibration planes of the electric fields orthogonal to each other.
Differential polarization degree = | Intensity of first linearly polarized light−Intensity of second linearly polarized light | / | Intensity of first linearly polarized light + Intensity of second linearly polarized light |
It is defined by the formula of

The polarization ratio is the first linearly polarized light and the second linearly polarized light having vibration planes of electric fields orthogonal to each other.
Polarization ratio = | Intensity of first linearly polarized light / Intensity of second linearly polarized light | (or | Intensity of second linearly polarized light / Intensity of first linearly polarized light |)
It is defined by the formula of

  If the method for acquiring the image of the object further includes a polarizing filter or the like, the image of the polarized light from the object can be obtained, so that the image of the object capable of more effective processing of the polarized image of the object is obtained. It becomes possible to provide a way to get.

  The polarizing filter or the like may be arranged so that the polarizing filter or the like can be inserted into or removed from the optical path of the optical system. For example, the polarizing filter or the like may be moved by a device that moves the polarizing filter or the like in a direction perpendicular to the optical axis of the optical system. A device that moves a polarizing filter or the like in a direction perpendicular to the optical axis of the optical system is, for example, a switch controlled by a user or a unit including a CPU or FPGA and a memory, and in response to a signal from the switch. It is controlled by an actuator that moves the polarizing filter or the like in a direction perpendicular to the optical axis of the optical system so that the polarizing filter or the like is inserted into or removed from the optical path of the optical system. For example, when a polarizing filter or the like is moved in a direction perpendicular to the optical axis of the optical system so that the polarizing filter or the like is inserted into the optical path of the optical system, the method of acquiring the object image is the polarization image of the object. It becomes possible to get. On the other hand, when the polarizing filter or the like is moved in a direction perpendicular to the optical axis of the optical system so that the polarizing filter or the like is removed from the optical path of the optical system, the method for acquiring the object image is a non-polarized image of the object. It becomes possible to get.

  The example of the program according to the third embodiment of the present invention shown in FIG. 3 is a program that causes a computer to execute the method for acquiring an image of an object according to the second embodiment of the present invention.

  According to the third embodiment of the present invention, it is possible to provide a program that causes a computer to execute a method of acquiring an object image that can perform more effective processing of the object image.

  FIG. 4 is a diagram illustrating an example of a method for acquiring a differential polarization degree with respect to polarization of light incident on an apparatus that acquires an image of an object from a road surface.

  FIG. 4A is a diagram illustrating an example of a method of acquiring a polarization image of light incident on a device that acquires an image of an object from a road surface. A method for acquiring a polarization image of light incident on an apparatus (image acquisition apparatus) 402 for acquiring an image of an object from a road surface 401 as shown in FIG. 4A is an object according to the second embodiment of the present invention. It is an example of the method of acquiring the image of this. Examples of the apparatus (image acquisition apparatus) 402 that acquires an image of an object include an apparatus that acquires an image of an object according to the first embodiment of the present invention. Examples of the image acquisition device 402 include a camera (polarization camera) that acquires information on the polarization of light incident from the road surface 401.

  A method for acquiring a polarization image of light incident on the image acquisition device 402 from the road surface 401 as shown in FIG. 4A is, for example, an image from the road surface 401 by using an optical system included in the image acquisition device 402. Optically acquiring a polarization image of light incident on the acquisition device 402, acquiring data relating to a condition for acquiring a polarization image of light incident on the image acquisition device 402 from the road surface 401, and acquiring an image from the road surface 401 Acquiring data on the angle of the optical axis of the optical system included in the image acquisition device 402 with respect to the horizontal plane corresponding to data relating to conditions for acquiring a polarization image of light incident on the device 402, and an image acquisition device 402 for the horizontal plane Changing the angle of the optical axis of the optical system included in the image acquisition device 402 with respect to the horizontal plane based on the data of the angle of the optical axis of the optical system included in the optical system.

  In the method of acquiring the polarization image of the light incident on the image acquisition device 402 from the road surface 401 as shown in FIG. 4A, the polarization information of the light incident on the image acquisition device 402 from the road surface 401 is used as the image acquisition device. The angle of the optical axis of the optical system included in the image acquisition device 402 with respect to the horizontal plane is changed (changes the angle of the image acquisition device 402 with respect to the horizontal plane) so that the image acquisition device 402 can acquire more appropriately.

Information on the polarization of light incident on the image acquisition device 402 from the road surface 401 includes, for example, the degree of differential polarization with respect to the polarization of light incident on the image acquisition device 402 from the road surface 401. The differential polarization degree is the first linearly polarized light and the second linearly polarized light having vibration planes of electric fields orthogonal to each other.
Differential polarization degree = | Intensity of first linearly polarized light−Intensity of second linearly polarized light | / | Intensity of first linearly polarized light + Intensity of second linearly polarized light |
It is defined by the formula of

  The degree of differential polarization with respect to the polarization of light incident on the image acquisition device 402 from the road surface 401 depends on the state of the road surface 401 (the nature of the road surface 401 that reflects or scatters light), from the light source 403 such as the sun to the road surface 401 to the road surface 401. It depends on the angle of the incident light, the angle of the optical axis of the optical system included in the image acquisition device 402 with respect to the road surface 401 (the angle of the light beam incident on the image acquisition device 402 from the road surface 401), and the like. The angle of the optical axis of the optical system included in the image acquisition device 402 with respect to the road surface 401 (the angle of the light beam incident on the image acquisition device 402 from the road surface 401) is the state of the road surface 401 (the road surface that reflects or scatters light). 401) and the angle of light incident on the road surface 401 from the light source 403 such as the sun with respect to the road surface 401.

  FIG. 4B is a diagram showing an example of the relationship between the angle of light incident on the road surface from the light source with respect to the road surface and the degree of differential polarization with respect to the polarization of light incident on the device that acquires the image of the object from the road surface. The horizontal axis of FIG. 4B indicates the angle (incident angle) (degrees) of light incident on the road surface from the light source with respect to the road surface, as indicated by the dotted arrow in FIG. The vertical axis of FIG. 4B indicates the degree of differential polarization with respect to the polarization of light incident on the device that acquires the image of the object from the road surface. The graph shown in FIG. 4B fixes the angle of the optical axis of the optical system included in the image acquisition device 402 with respect to the road surface 401 (the angle of the light beam incident on the image acquisition device 402 from the road surface 401) to 10 degrees. On the other hand, it is a graph obtained by changing the angle of light incident on a road surface model from a lamp as a light source for an asphalt road surface model provided in a laboratory.

  As shown in FIG. 4B, the differential polarization degree for the polarization of the light incident on the image acquisition device 402 from the road surface 401 is the state of the road surface 401, the angle of the light incident on the road surface 401 from the light source 403 with respect to the road surface 401, In addition, depending on the angle of the optical axis of the optical system included in the image acquisition device 402 with respect to the road surface 401, the state of the road surface 401, the angle of light incident on the road surface 401 from the light source 403 with respect to the road surface 401, and the image with respect to the road surface 401 Depending on the angle of the optical axis of the optical system included in the acquisition device 402, there is a more appropriate degree of differential polarization for the polarization of light incident on the image acquisition device 402 from the road surface 401.

  Therefore, the year when the polarization image of the light incident on the image acquisition device 402 from the road surface 401 is optically acquired as data relating to the condition for acquiring the polarization image of the light incident on the image acquisition device 402 from the road surface 401. The date and time, the position (latitude and longitude) of the road surface 401, and the data of the direction of the image acquisition device 402 with respect to the road surface 401 are prepared. Next, an appropriate differential degree of polarization for the polarization of light incident on the image acquisition device 402 from the road surface 401 is obtained according to data relating to conditions for acquiring a polarization image of light incident on the image acquisition device 402 from the road surface 401. Data of the angle of the optical axis of the optical system included in the image acquisition device 402 with respect to the horizontal plane is prepared. In this manner, a table of data on the angle of the optical axis of the optical system included in the image acquisition device 402 with respect to the horizontal plane is prepared with respect to data relating to conditions for acquiring a polarization image of light incident on the image acquisition device 402 from the road surface 401. .

  In this case, in a method for acquiring a polarization image of light incident on the image acquisition device 402 from the road surface 401, data on a condition for acquiring a polarization image of light incident on the image acquisition device 402 from the road surface 401 is acquired. And the angle data of the optical axis of the optical system included in the image acquisition device 402 with respect to the horizontal plane corresponding to the data relating to the condition for acquiring the polarization image of light incident on the image acquisition device 402 from the road surface 401 from the table. By doing so, the angle of the optical axis of the optical system included in the image acquisition device 402 with respect to the horizontal plane can be changed to a more appropriate angle. As a result, it is possible to obtain a more appropriate differential polarization degree with respect to the polarization of the light incident on the image acquisition device 402 from the road surface 401 according to the condition for acquiring the polarization image of the light incident on the image acquisition device 402 from the road surface 401. Is possible. Accordingly, it becomes possible to perform more effective processing of a polarization image of light incident on the image acquisition device 402 from the road surface 401. Examples of processing of a polarization image of light incident on the image acquisition device 402 from the road surface 401 include object recognition such as detection of an image area on the road surface 401.

  FIG. 5 is a diagram illustrating an example of processing of a polarization image of light incident on an apparatus that acquires an image of an object from a road surface. An example of the processing of a polarization image of light incident on an apparatus that acquires an image of an object from the road surface shown in FIG. 5 is detection of an image area of the road surface in a polarization image from the road surface.

  The detection of the image area of the road surface in the polarization image from the road surface shown in FIG. 5 is performed by the differential degree of polarization with respect to the polarization of the light incident on the device (image acquisition device) that acquires the image of the object from the road surface as shown in FIG. (Step 501), an image of polarized light from the road surface in which the differential polarization degree acquired for the polarization of the light incident on the device (image acquisition device) that acquires the image of the object from the road surface is a pixel value is generated. (Step 502), and binarizing the polarization image from the road surface by a threshold (Step 503), and extracting the image area of the road surface based on the binarized polarization image from the road surface (Step 504).

  The detection of the image area of the road surface in the polarized image from the road surface shown in FIG. 5 is performed by, for example, an apparatus (image acquisition apparatus) that acquires an image of an object according to the first embodiment of the present invention as shown in FIG. It may be executed by a unit that includes a CPU or FPGA and memory that may be included in the examples. That is, a program for detecting an image area of a road surface in a polarization image from the road surface shown in FIG. 5 is stored in advance in the memory included in the unit, and the CPU or FPGA included in the unit shown in FIG. A program for detecting an image area of a road surface in an image of polarized light from the road surface may be executed.

  In step 501, for example, by using a method for acquiring an image of an object according to the second embodiment of the present invention, a differential polarization degree for the polarization of light incident on the image acquisition device from the road surface is acquired.

  In step 502, an image of polarized light from the road surface, in which the differential polarization degree acquired for the polarization of light incident on the image acquisition device from the road surface is a pixel value, is generated.

  In step 503, the polarization image from the road surface is binarized by a threshold value. The differential polarization degree of the road surface image area in the polarization image from the road surface is generally different from the differential polarization degree of the image area excluding the road surface image area in the polarization image from the road surface. For this reason, by setting a threshold between the differential polarization degree of the road surface image area in the polarization image from the road surface and the differential polarization degree of the image area excluding the road surface image area in the polarization image from the road surface, It is possible to distinguish an image area excluding a road surface image area in a polarized image from the road surface and an image area excluding a road surface image area in a polarized image from the road surface. That is, by comparing the pixel value (difference polarization degree) in the polarization image from the road surface with the threshold value, the pixel value (difference polarization degree) in the image area on the road surface in the polarization image from the road surface and the polarization image from the road surface. The pixel values (difference polarization degree) of the image area excluding the image area of the road surface in are binarized to different values.

  In step 504, an image area of the road surface is extracted based on the binarized polarization image from the road surface. Pixel values of the road surface image area (difference of polarization) in the polarization image from the road surface binarized to different values and pixel values of the image area excluding the road surface image area in the image of polarization from the road surface (difference polarization) By appropriately selecting one of the degrees, an image area of the road surface in the polarization image from the road surface is extracted.

  For example, when a polarized image from the road surface includes an image area of the road surface and an empty image area, the pixel value (difference polarization degree) of the image area of the road surface is the pixel value (difference polarization degree of the sky image area). ) May be smaller. In this case, a threshold value is set between the pixel value (difference polarization degree) of the image area on the road surface and the pixel value (difference polarization degree) of the sky image area, and the pixel value of the polarization image from the road surface is set as the threshold value. By comparing, it is possible to distinguish and extract an image area of a road surface having a pixel value smaller than the threshold value from an empty image area having a pixel value larger than the threshold value.

  Here, the detection of the image area of the road surface in the polarization image from the road surface shown in FIG. 5 is performed on the polarization of the light incident on the device (image acquisition device) that acquires the image of the object from the road surface as shown in FIG. Since it includes acquiring the differential polarization degree (step 501), depending on the condition for acquiring the polarization image of the light incident on the image acquisition device from the road surface, the polarization of the light incident on the image acquisition device from the road surface An appropriate degree of differential polarization can be obtained. For example, a pixel value of a road surface image area (difference polarization degree) in a binarized polarization image from a road surface and a pixel value of an image area (difference polarization degree) excluding a road surface image area in a polarization image from a road surface It is possible to change the angle of the optical axis of the optical system included in the image acquisition device with respect to the horizontal plane to a more appropriate angle. That is, the angle of the optical axis of the optical system included in the image acquisition device with respect to the horizontal plane is set to a more appropriate angle so that the image area of the road surface in the polarized image from the road surface can be detected more effectively. It becomes possible to change.

  The detection of the road surface image area in the polarization image from the road surface shown in FIG. 5 is preferably performed by performing a labeling process on the road surface image area extracted in step 504 (step 505) and the labeling process. The method further includes determining the image area of the road surface by specifying the area having the largest number of pixels in the image area (step 506).

  In this case, it becomes possible to detect the image area of the road surface in the polarized image from the road surface with higher accuracy.

  FIG. 6 is a diagram showing an example of a recording medium according to the fourth embodiment of the present invention.

  An example of the recording medium according to the fourth embodiment of the present invention shown in FIG. 6 is a computer-readable recording medium 601 on which a program according to the third embodiment of the present invention is recorded. Examples of the computer-readable recording medium 601 include an optical recording medium such as an optical disk or a magnetic recording medium such as a magnetic disk.

  According to the fourth embodiment of the present invention, a computer-readable recording medium 601 recorded with a program for causing a computer to execute a method for acquiring an object image capable of performing more effective processing of the object image. It becomes possible to provide.

DESCRIPTION OF SYMBOLS 100 Image acquisition apparatus 101 Optical system 102 Sensor device 103 Condition data acquisition device 104 Data storage device 105 Angle data acquisition device 106 Angle change device 107 Polarization acquisition device 200 Image acquisition apparatus 201 Optical system 202 Angle change device 203 Support body 401 Road surface 402 Image Acquisition device 403 Light source 601 Computer-readable recording medium

JP 2010-080993 A

Claims (6)

An apparatus for acquiring an image of an object,
An optical system for optically acquiring an image of an object,
A device that acquires data on conditions for acquiring an image of an object,
A device for obtaining data of an angle of an optical axis of the optical system with respect to a horizontal plane corresponding to data relating to a condition for obtaining an image of the object; and
An apparatus for acquiring an image of an object, including a device that changes an angle of an optical axis of the optical system with respect to a horizontal plane based on data of an angle of the optical axis of the optical system with respect to a horizontal plane. In the apparatus which acquires the image of the object according to claim 1,
An apparatus for acquiring an image of an object, further comprising a device for acquiring polarized light from light incident on the optical system. A method for obtaining an image of an object,
Optically acquiring an image of an object by using an optical system;
Obtaining data on conditions for obtaining an image of an object;
Obtaining data of the angle of the optical axis of the optical system with respect to a horizontal plane corresponding to data relating to conditions for obtaining an image of the object; and
A method for obtaining an image of an object, comprising: changing an angle of an optical axis of the optical system with respect to a horizontal plane based on data of an angle of the optical axis of the optical system with respect to a horizontal plane. The method of obtaining an image of an object according to claim 3.
A method for obtaining an image of an object, further comprising obtaining polarization of light incident on the optical system.   The program which makes a computer perform the method of acquiring the image of the object of Claim 3 or 4.   A computer-readable recording medium on which the program according to claim 5 is recorded.

Images