JP2017191271A - Imaging apparatus and imaging method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an imaging apparatus capable of avoiding the unnaturalness of the image of a joining part when joining respective images captured by a plurality of cameras.SOLUTION: A first camera C1 images a subject in a first visual field at a first timing. A second camera C2 arranged in a position different from the position where the first camera C1 is arranged images the subject in a second visual field provided by a first mirror M1 and a first driving part D1 at a second timing. A third camera C3 arranged in the position different from the positions where the first camera C1 and the second camera C2 are arranged images the subject in a third visual field provided by a second mirror M2 and a second driving part D2 at the second timing.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an imaging apparatus and an imaging method for imaging a wide field of view.

  Conventionally, what was described in patent document 1 as this kind of technique is known. Patent Document 1 describes an imaging apparatus that captures a wide field of view from one viewpoint at the same time using a plurality of cameras and a plurality of mirrors. Here, the viewpoint refers to the principal point of the imaging lens.

  In the imaging apparatus, an image of a subject that falls within the field of view (imaging range) determined by the angle of view of the camera is reflected by the mirror, and each camera of the imaging device captures a virtual image of the subject reflected by the mirror.

JP 2002-214726 A

  The conventional imaging apparatus does not have an overlapping portion where the field of view of one camera overlaps the field of view of another camera. For this reason, when the images of the subject imaged by each camera are joined, the image of the joint portion is lost. If the image of the joint portion is lost, there is a problem that the image of the joint portion becomes unnatural.

  One countermeasure for avoiding such a problem is to shift the imaging position of the camera, that is, the position of the principal point of the imaging lens of the camera, so that an overlapping portion is provided in the field of view of each camera. However, if an overlapping portion is to be provided in the field of view of each camera, it is difficult to completely match the positions of the principal points of the imaging lenses of the cameras.

  If the position of the principal point of the imaging lens of each camera does not completely match, the subject image captured by each camera will deviate from the background at a portion where the distance between the camera and the subject is short. If the image of the subject imaged by each camera is shifted from the background, the image of the subject imaged by each camera will be stitched together, resulting in an unnatural image at the joint.

  An object of the present invention is to capture a wide range of images of the same principal point using a plurality of cameras, and to avoid unnaturalness of the images at the joints when the images are joined together An apparatus and an imaging method are provided.

  The present invention provides a first camera that captures an image of a subject that enters the first field of view, and a second camera that images the subject that enters the second field of view, which is disposed at a position different from the position where the first camera is disposed. A camera, a third camera that is disposed at a position different from the position where the first camera and the second camera are disposed, and that captures a subject that enters a third field of view; and the second camera that captures the subject. A first field-of-view providing unit that provides the second field of view to the second camera when imaging, and the third field of view to the third camera when the third camera images a subject. A second visual field providing unit that provides the first visual field such that the first visual field providing unit provides the second camera with a second visual field when the second camera images a subject. When the providing unit is controlled and the third camera images the subject A control unit that controls the second field-of-view providing unit so that the second field-of-view providing unit provides the third field of view to the third camera, and the first camera has a first The second camera captures an image of a subject entering the second visual field at a second timing, and the third camera captures the second visual field at the second timing. A subject that enters the third field of view is imaged at a timing, and the second field of view is adjacent to the right side of the first field of view as viewed from the principal point of the imaging lens of the first camera, and the second field of view A part of the field on the left side of the field of view overlaps a part of the field of view on the right side of the first field of view, and the third field of view is the first field when viewed from the principal point of the imaging lens of the first camera. Adjacent to the left side of the field of view, and part of the field on the right side of the third field of view is part of the part of the left side of the first field of view. Providing an imaging apparatus characterized by overlapping the field.

  The present invention provides a first camera that captures an image of a subject that enters the first field of view, and a second camera that images the subject that enters the second field of view, which is disposed at a position different from the position where the first camera is disposed. A camera, a third camera that is disposed at a position different from the position where the first camera and the second camera are disposed, and that captures a subject that enters a third field of view; and the second camera that captures the subject. A first field-of-view providing unit that provides the second field of view to the second camera when imaging, and the third field of view to the third camera when the third camera images a subject. A second field-of-view providing unit that provides the first field-of-view to provide the second field of view to the second camera when the second camera images a subject. When the field of view providing unit is controlled and the third camera captures the subject A control unit that controls the second field-of-view providing unit so that the second field-of-view providing unit provides the third field of view to the third camera. A subject that enters the right visual field that is narrower than the first visual field and wider than the right half of the first visual field is imaged at a first timing, and is narrower than the first visual field and from the left half of the first visual field. A subject entering a wide left field of view is imaged at a second timing, the second camera images a subject entering the second field of view at the second timing, and the third camera is configured to capture the first The subject that enters the third field of view is imaged at the timing of the first field, the right field and the left field of the first field of view partially overlap, and the second field of view of the first camera Next to the right side of the first field of view as seen from the principal point of the imaging lens The partial field on the left side of the second field of view overlaps the partial field of view on the right side of the first field of view, and the third field of view is from the principal point of the imaging lens of the first camera. An imaging apparatus is provided, which is adjacent to the left side of the first field of view and a part of the field of view on the right side of the third field of view overlaps a part of the field of view on the left side of the first field of view. To do.

  In the present invention, the first camera captures an image of a subject entering the first field of view at a first timing, and the second camera disposed at a position different from the position at which the first camera is disposed A subject that enters the second field of view provided by the first field-of-view providing unit at the timing of 2 is imaged, and a third disposed at a position different from the position at which the first camera and the second camera are disposed. The second camera captures an image of a subject entering the third visual field provided by the second visual field providing unit at the second timing, and the second visual field is derived from a principal point of the imaging lens of the first camera. The first field of view is adjacent to the right side of the first field of view, the partial field of view on the left side of the second field of view overlaps the partial field of view on the right side of the first field of view, and the third field of view is Adjacent to the left side of the first field of view as seen from the principal point of the imaging lens of the first camera, Serial third right part of the field of view of the field of view, to provide an imaging method characterized in that overlap with part of the field of view of the left side of the first field of view.

  According to the present invention, the first camera captures an image of a subject that enters the right visual field that is narrower than the first visual field and wider than the right half of the first visual field at a first timing, and is narrower than the first visual field. And a second camera arranged in a position different from the position where the first camera is imaged, taking an image of a subject entering the left visual field wider than the left half of the first visual field at a second timing. The subject that enters the second field of view provided by the field of view providing unit is imaged at the second timing, and the third camera is disposed at a position different from the position at which the first camera and the second camera are disposed. The first camera picks up an image of a subject entering the third field provided by the second field provider at the first timing, and part of the right field and the left field of the first field. And the second field of view is the first A part of the left field of the second field of view that is adjacent to the right side of the first field of view when viewed from the principal point of the imaging lens of the camera of FIG. The third field of view is adjacent to the left side of the first field of view when viewed from the principal point of the imaging lens of the first camera, and a part of the field of view on the right side of the third field of view is the first field of view. An imaging method is provided that overlaps with a partial visual field on the left side of the visual field.

  According to the imaging apparatus or imaging method of the present invention, it is possible to perform wide-angle shooting at the same principal point using a plurality of cameras, and further reduce the unnaturalness of the images at the joints when the captured images are joined together. It can be avoided.

It is a conceptual diagram for demonstrating the imaging operation which the imaging device which concerns on 1st Embodiment of this invention performs. It is a conceptual diagram for demonstrating the imaging operation which the 1st camera of the imaging device which concerns on 1st Embodiment of this invention performs. It is a perspective view which shows one structure of a 1st visual field provision part and a 2nd visual field provision part. It is a top view which shows the other structure of a 1st visual field provision part and a 2nd visual field provision part. It is a flowchart which shows the imaging procedure of the imaging device which concerns on 1st Embodiment of this invention. It is a conceptual diagram for demonstrating the imaging operation which the imaging device which concerns on 2nd Embodiment of this invention performs. It is a conceptual diagram for demonstrating the imaging operation which the imaging device which concerns on 2nd Embodiment of this invention performs. It is a flowchart which shows the imaging procedure of the imaging device which concerns on 2nd Embodiment of this invention.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

(First embodiment)
With reference to FIG. 1, the configuration and imaging operation of the imaging apparatus according to the first embodiment will be described. In FIG. 1, the imaging device 1 includes a first camera C1, a second camera C2, and a third camera C3. In addition, the imaging device 1 includes a first mirror M1, a second mirror M2, a first drive unit D1, a second drive unit D2, and a control unit 11. The control unit 11 includes a storage unit 12.

  The first camera C1 captures a still image of a subject that enters the first visual field V1. The first camera C1 captures an image at the first timing commanded by the first imaging command signal. A first imaging command signal is given from the control unit 11 to the first camera C1. The first camera C <b> 1 provides image data of the captured subject image to the storage unit 12 of the control unit 11.

  The viewing angle θV1 of the first visual field V1 is determined by the horizontal field angle set by the specification of the imaging lens of the first camera C1.

  The second camera C2 is arranged at a position different from the position where the first camera C1 is arranged. The second camera C2 is arranged on the right side of the first camera C1 in the arrangement example shown in FIG.

  The second camera C2 captures a still image of a subject that enters the second visual field V2. At this time, the second visual field V2 obtained by the second camera C2 is provided by a first mirror M1 described later.

The second camera C2 captures an image at the second timing commanded by the second imaging command signal.
A second imaging command signal is given from the control unit 11 to the second camera C2. The second camera C <b> 2 gives image data of the captured subject image to the storage unit 12 of the control unit 11.

  The second visual field V2 is adjacent to the right side of the first visual field V1 when viewed from the principal point N1 of the imaging lens of the first camera C1. Here, as for the principal point of the imaging lens, the principal surface as a locus drawn by the intersection of two straight lines obtained by extending light rays before and after the light incident on the imaging lens is orthogonal to the optical axis of the imaging lens. Point to point.

  A partial visual field of the second visual field V2 overlaps a partial visual field of the first visual field V1. That is, there is an overlapping portion V12 in which a part of the left visual field of the second visual field V2 and a part of the right visual field of the first visual field V1 overlap.

  The viewing angle θV2 of the second field of view V2 is determined by the horizontal angle of view set by the specification of the imaging lens of the second camera C2, and the principal point N2 of the imaging lens of the second camera C2 is set to the first mirror M1. When it is used to coincide with the principal point N1 of the imaging lens of the first camera C1, the horizontal field angle of the virtual image of the second camera C2 is obtained.

  As a result, the second camera C2 is in a state similar to the state in which the principal point N2 of the imaging lens of the second camera C2 matches the principal point N1 of the imaging lens of the first camera C1, and the second camera C2 A subject entering the field of view V2 can be imaged.

  The third camera C3 is disposed at a position different from the position where the first camera C1 and the second camera C2 are disposed, and the second camera is disposed at a position opposite to the first camera. Yes. The third camera C3 is arranged on the left side of the first camera C1 in the arrangement example shown in FIG.

  The third camera C3 captures a still image of a subject that enters the third visual field V3. At this time, a third field of view V3 obtained by the third camera C3 is provided by a second mirror M2 described later.

  The third camera C3 captures an image at the second timing commanded by the second imaging command signal. A second imaging command signal is given from the control unit 11 to the third camera C3. The third camera C <b> 3 gives image data of the captured subject image to the storage unit 12 of the control unit 11.

  The third field of view V3 is adjacent to the left side of the first field of view V1 when viewed from the principal point N1 of the imaging lens of the first camera C1. A partial visual field of the third visual field V3 overlaps with a partial visual field of the first visual field V1. That is, there is an overlapping portion V13 in which a part of the visual field on the right side of the third visual field V3 and a part of the visual field on the left side of the first visual field V1 overlap.

  The viewing angle θV3 of the third field of view V3 is determined by the horizontal angle of view set by the specification of the imaging lens of the third camera C3, and the principal point N3 of the imaging lens of the third camera C3 is moved to the second mirror M2. When it is used to coincide with the principal point N1 of the imaging lens of the first camera C1, the horizontal field angle of the virtual image of the third camera C3 is obtained.

  Thereby, the third camera C3 is in a state similar to the state in which the principal point N3 of the imaging lens of the third camera C3 is made to coincide with the principal point N1 of the imaging lens of the first camera C1. A subject entering the visual field V3 can be imaged.

  The first mirror M1 has a flat reflecting surface R1 that reflects incident light.

  The first mirror M1 reflects the incident light at the reflecting surface R1, and gives the reflected incident light to the second camera C2, whereby the first mirror M1 is a virtual image of the subject entering the second field of view V2. Is provided to the second camera C2. The second visual field V2 is a visual field in front of the reflecting surface R1 of the first mirror M1.

  The first mirror M1 is driven by a first drive unit D1 described later. As shown in FIG. 2, the first mirror M1 is driven by the first drive unit D1 and operates as follows.

  In FIG. 2, the position of the second camera C2 indicated by a broken line indicates the position of the second camera C2 by the first mirror M1 when the first mirror M1 provides the second field of view V2 to the second camera C2. The virtual image position is shown. The principal point N1 of the imaging lens of the first camera C1 and the principal point N2 of the imaging lens of the second camera C2 at the virtual image position coincide.

  Although not shown, the principal point N1 of the imaging lens of the first camera C1 and the principal point N3 of the imaging lens of the third camera C3 at the virtual image position by the second mirror M2 are arranged to coincide with each other. ing.

  The first mirror M1 is driven so as to be in a position indicated by a solid line in FIG. 2 when the first camera C1 captures an image at the first timing. The first mirror M1 is driven so as to be in a position indicated by a broken line in FIG. 2 when the second camera C2 captures an image at the second timing.

  That is, the first mirror M1 moves from a position where the second camera C2 provides the second visual field V2 when the first camera C1 captures an image at the first timing. As a result, the first mirror M1 is retracted out of the range of the first visual field V1.

  Accordingly, the first mirror M1 provides the second field of view V2 to the second camera C2 when the second camera C2 images at the second timing, and the first mirror M1 is the first camera. When C1 captures an image at the first timing, the second visual field V2 is not provided to the second camera C2.

  Since the first visual field V1 and the second visual field V2 have the overlapping portion V12, when the first mirror M1 provides the second visual field V2 to the second camera C2, the first mirror Part of M1 enters the first field of view V1.

  However, when the first camera C1 captures an image of the subject entering the first field of view V1, the first mirror M1 is retracted outside the range of the first field of view V1, so that the subject captured by the first camera C1 Is not included in the image.

  The planar shape and area of the reflecting surface R1 of the first mirror M1 may be a shape and area that can provide the second visual field V2 to the second camera C2 and can be retracted outside the range of the first visual field V1. Any shape and area may be used. If the shape of the reflecting surface R1 is, for example, a left-right symmetrical trapezoid whose short side is the side close to the second camera C2, desired imaging can be performed.

  The shape of the reflecting surface of the first mirror M1 may be a curved surface instead of a flat surface.

  Returning to FIG. 1, the first drive unit D1 drives the first mirror M1 based on the first drive signal. A first drive signal is supplied from the control unit 11 to the first drive unit D1. The first drive unit D1 drives the first mirror M1 so that the first mirror M1 provides the second field of view V2 to the second camera C2 when the second camera C2 captures an image.

  The first mirror M1 and the first driving unit D1 constitute a first visual field providing unit 31 to be described later.

  The second mirror M2 provides a third field of view V3 to the third camera C3. The second mirror M2 reflects the incident light on the reflecting surface R2, and gives the reflected incident light to the third camera C3, whereby the second mirror M2 is a virtual image of the subject entering the third field of view V3. To the third camera C3. The third visual field V3 is a visual field ahead of the reflecting surface R2 of the second mirror M2.

  The second mirror M2 is driven by a second drive unit D2 described later. The second mirror M2 is driven by the second drive unit D2 and operates as follows.

  When the first camera C1 captures an image at the first timing, the second mirror M2 moves from a position that provides the third field of view V3 to the third camera C3. As a result, the second mirror M2 is retracted out of the range of the third visual field V3.

  Therefore, the second mirror M2 provides the third field of view V3 to the third camera C3 when the third camera C3 captures images at the second timing, and the second mirror M2 When C1 captures an image at the first timing, the third field of view V3 is not provided to the third camera C3.

  Since the first visual field V1 and the third visual field V3 have the overlapping portion V13, when the second mirror M2 provides the third visual field V3 to the third camera C3, the second mirror Part of M2 enters the first field of view V1.

  However, when the first camera C1 captures an image of a subject that enters the first field of view V1, the second mirror M2 is retracted outside the range of the first field of view V1, so that the subject captured by the first camera C1 Not included in the image.

  The shape and area of the reflecting surface R2 of the second mirror M2 are the same as those of the first mirror M1 described above.

  The second drive unit D2 drives the second mirror M2 based on the first drive signal. A first drive signal is supplied from the control unit 11 to the second drive unit D2. The second drive unit D2 drives the second mirror M2 so that the second mirror M2 provides the third field of view V3 to the third camera C3 when the third camera C3 takes an image.

  Therefore, the first drive unit D1 and the second drive unit D2 drive the first mirror M1 and the second mirror M2 in the same manner based on the common first drive signal.

  The 2nd mirror M2 and the 2nd drive part D2 comprise the 2nd visual field provision part 32 mentioned below.

  The control unit 11 has a function of controlling the overall operation of the imaging apparatus 1 in an integrated manner. The control unit 11 can be configured by a computer mainly using a CPU, a memory, and the like. The control unit 11 has a memory (not shown) that stores a control program for controlling the overall operation of the imaging apparatus 1. The control unit 11 controls the overall operation of the imaging apparatus 1 by executing a control program stored in the memory by the CPU.

  The control unit 11 gives a first imaging command signal to the first camera C1, and commands the first timing to the first camera C1. The control unit 11 gives a second imaging command signal to the second camera C2 and the third camera C3, and commands the second timing to the second camera C2 and the third camera C3.

  The control unit 11 gives a first drive signal to the first drive unit D1, and controls the first drive unit D1. The control unit 11 controls the first drive unit D1 so that the first mirror M1 provides the second field of view V2 to the second camera C2 when the second camera C2 captures an image.

  The control unit 11 gives a second drive signal to the second drive unit D2, and controls the second drive unit D2. When the third camera C3 captures an image, the control unit 11 controls the second drive unit D2 so that the second mirror M2 provides the third field of view V3 to the third camera C3.

  The storage unit 12 inputs and stores image data of the subject image captured by the first camera C1. The storage unit 12 inputs and stores the image data of the subject image captured by the second camera C2. The storage unit 12 inputs and stores image data of the subject image captured by the third camera C3.

  The storage unit 12 provides image data stored in an image processing device (not shown) separate from the imaging device 1.

  The image processing apparatus generates an image according to the image data given from the storage unit 12. The image processing apparatus combines an image of the subject captured by the first camera C1, an image of the subject captured by the second camera C2, and an image of the subject captured by the third camera C3. Generate. As a result, the image processing apparatus generates a continuous image of the subject entering the first visual field V1, the second visual field V2, and the third visual field.

  The image processing apparatus generates an image obtained by connecting the above-described three images by executing image processing using a stitching technique, for example. The stitching technique is a known method for generating a single image by connecting a plurality of images.

  Note that the imaging apparatus 1 can include an image generation unit having an image generation function performed by the above-described image processing apparatus. The image generation unit can be realized by the control unit 11 including an image processing program for executing the stitching technique, for example, and the CPU of the control unit 11 executing the image processing program.

  In addition, the imaging device 1 can include a display function for displaying a captured image or a generated image on a screen such as a liquid crystal display.

  FIG. 3 is a perspective view illustrating a configuration example of the first visual field providing unit 31 and the second visual field providing unit 32.

  The first visual field providing unit 31 includes two first mirrors M1 and a first driving unit D1.

  The first drive unit D <b> 1 includes a connecting member 33 and a motor 34.

  The first visual field providing unit 31 includes two first mirrors M1, but only one first mirror M1 is illustrated in FIG.

  The two first mirrors M1 are coupled so that the reflecting surface R1 faces in the same direction and is opposed to the rotation center 36 by a coupling member 33. The connecting member 33 is driven to rotate in the direction indicated by the arrow 37 or the arrow 38 by the motor 34 around the rotation center 36. Thus, the two first mirrors M1 are driven to rotate in the direction indicated by the arrow 37 or the arrow 38 around the rotation center 36.

  The first drive unit D1 controls the position of the two first mirrors M1 by adjusting and controlling the rotational speed of the motor 34. That is, the first driving unit D1 controls the two first mirrors so that the two first mirrors M1 are alternately provided at the second timing with the second timing by the adjustment control. Drive M1. The first drive unit D1 has two first mirrors M1 so that both of the two first mirrors M1 are retracted out of the range of the first visual field V1 at the first timing by the adjustment control. Drive.

  The 2nd visual field provision part 32 is comprised by the 2nd mirror M2 of 2 sheets, and the 2nd drive part D2. In addition, although the 2nd visual field provision part 32 is provided with the 2nd 2nd mirror M2, only the 2nd mirror M2 is shown in figure in FIG.

  The second visual field providing unit 32 is configured in the same manner as the first visual field providing unit 31. That is, the two second mirrors M2 have the same function as the first mirror M1, and the second drive unit D2 is configured in the same manner as the first drive unit D1.

  The second drive unit D2 controls the position of the two second mirrors M2 by adjusting and controlling the rotation speed of the motor 34. In other words, the second drive unit D2 uses the two second mirrors so that the two second mirrors M2 are alternately provided at the second timing to provide the third field of view V3 by the adjustment control. Drive M2. The second drive unit D2 has two second mirrors M2 so that both of the two second mirrors M2 are retracted out of the range of the first visual field V1 at the first timing by the adjustment control. Drive.

  FIG. 4 is a diagram illustrating another configuration example of the first visual field providing unit 31 and the second visual field providing unit 32.

  The first visual field providing unit 31 includes a single first mirror M1 and a first driving unit D1.

  The first drive unit D1 is configured by a known reciprocating slider crank mechanism 41 that changes a rotational motion to a reciprocating motion. The first drive unit D1 causes the first mirror M1 to reciprocate linearly in the direction of the arrow 42 by the reciprocating slider crank mechanism 41, for example.

  The reciprocating slider crank mechanism 41 includes, for example, a crank 44 that is rotationally driven by a motor (not shown) in the direction of an arrow 43, a slider 45 that is attached to the first mirror M1 and that reciprocates linearly according to the rotation of the crank 44, It has. The crank 44 and the slider 45 are connected by hinges 46 and 47 and a connecting member 48.

  The first drive unit D1 controls the position of the first mirror M1 by adjusting and controlling the rotation speed of the crank 44. That is, the first driving unit D1 controls the first mirror M1 at the first timing so that the first mirror M1 is positioned to provide the second visual field V2 at the second timing by the adjustment control. The first mirror M1 is driven so as to retract outside the range of the visual field V1.

  The second visual field providing unit 32 includes a second mirror M2 and a second driving unit D2. The 2nd visual field provision part 32 is comprised the same as the said 1st visual field provision part 31 shown in FIG. That is, the second mirror M2 has the same function as the first mirror M1, and the second drive unit D2 is configured in the same manner as the first drive unit D1.

  The second drive unit D2 controls the position of the second mirror M2 by adjusting and controlling the rotational speed of the crank 44. That is, the second drive unit D2 controls the first mirror at the first timing so that the second mirror M2 is positioned to provide the third visual field V3 at the second timing by the adjustment control. The second mirror M2 is driven so as to retreat outside the range of the visual field V1.

  The first drive unit D1 generates a force (Lorentz force) that the current receives from the magnetic field when the current flows in the magnetic field, and makes the first mirror M1 reciprocate linearly using the generated force. A configuration can also be adopted. Similarly to the first drive unit D1, the second drive unit D2 can employ a configuration in which the second mirror M2 is reciprocated linearly using the Lorentz force.

  With reference to the flowchart shown in FIG. 5, a procedure for imaging by the imaging apparatus 1 according to the first embodiment will be described.

  In FIG. 5, the control part 11 gives a 1st drive signal to the 1st drive part D1 in step S51. In step S51, the first drive unit D1 drives the first mirror M1 based on the first drive signal.

  As a result, the first mirror M1 is retracted out of the range of the first visual field V1 at the first timing. The first mirror M1 moves to a position where the second field of view V2 is provided to the second camera C2 at a second timing, and provides the second field of view V2 to the second camera C2.

  In step S51, the control unit 11 provides the second drive signal to the second drive unit D2. In step S51, the second drive unit D2 drives the second mirror M2 based on the second drive signal.

  As a result, the second mirror M2 is retracted out of the range of the first visual field V1 at the first timing. The second mirror M2 moves to the position where the third field of view V3 is provided to the third camera C3 at the second timing, and provides the third field of view V3 to the third camera C3.

  In step S52, the controller 11 gives the first imaging command signal to the first camera C1. In step S52, the first camera C1 images a subject that enters the first visual field V1 at the first timing commanded by the first imaging command signal. In step S52, the first camera C1 provides the storage unit 12 with image data of the captured subject image. In step S53, the storage unit 12 stores the image data given from the first camera C1.

  In step S54, the controller 11 gives the second imaging command signal to the second camera C2 and the third camera C3. In step S54, the second camera C2 images a subject that enters the second visual field V2 at the second timing commanded by the second imaging command signal. In step S54, the third camera C3 images a subject that enters the third visual field V3 at the second timing commanded by the second imaging command signal.

  In step S55, the second camera C2 gives the image data of the captured subject image to the storage unit 12. In step S55, the third camera C3 supplies image data of the captured subject image to the storage unit 12.

  In step S55, the storage unit 12 stores the image data given from the third camera C3. In step S55, the storage unit 12 stores the image data given from the third camera C3.

  The imaging device 1 captures an image of a subject that enters the first visual field V1, the second visual field V2, and the third visual field V3 by performing an imaging operation according to the above procedure.

  In the procedure of the imaging operation described above, the second camera C2 and the third camera C3 capture images at the second timing after the first camera C1 captures images at the first timing. On the other hand, the second camera C2 and the third camera C3 may take an image at the second timing and the first camera C1 may take an image at the first timing.

  Further, in the procedure of the imaging operation described above, the storage operation for storing the image data of the subject captured by the first camera C1 and the second camera C2 is performed, and then the first camera C1 and the third camera C3. The imaging operation is performed. On the other hand, the storage operation and the imaging operation may be performed simultaneously.

  In the first embodiment described above, the principal point N1 of the imaging lens of the first camera C1 and the principal point N2 of the imaging lens of the second camera C2 move between the first visual field V1 and the second visual field V2. Instead, the first visual field V1 and the second visual field V2 have an overlapping portion V12 that overlaps. In addition, the first visual field V1 and the third visual field V3 are the first visual field V1 and the third visual field V3 without moving the main point N1 of the imaging lens of the first camera C1 and the main point N3 of the imaging lens of the third camera C3. There is an overlapping portion V13 where the visual field V1 and the third visual field V3 overlap.

  Thereby, when the imaging device 1 of 1st Embodiment connects the image of the to-be-photographed object which the 1st camera C1, the 2nd camera C2, and the 3rd camera C3 joined, the image of a joint part is missing. There is nothing.

  The first camera C1 and the second camera C2 image the subject in a state where the principal point N1 of the imaging lens of the first camera C1 and the principal point N2 of the imaging lens of the second camera C2 are matched. It becomes possible to do. The first camera C1 and the third camera C3 image the subject in a state where the principal point N1 of the imaging lens of the first camera C1 and the principal point N3 of the imaging lens of the third camera C3 are matched. It becomes possible to do.

  As a result, the first camera C1, the second camera C2, and the third camera C3 can image the subject in a state where the principal points N1, N2, and N3 of the imaging lenses of the respective cameras are matched.

  Therefore, the imaging apparatus 1 and the imaging method employed by the imaging apparatus 1 according to the first embodiment are obtained when the images of the subject captured by the first camera C1, the second camera C2, and the third camera C3 are joined. It is possible to avoid an unnatural image at the joint portion.

(Second Embodiment)
Next, an imaging device and an imaging method according to the second embodiment will be described with reference to FIGS.

  The configuration of the imaging apparatus 1 according to the second embodiment is the same as that of the first embodiment. The imaging apparatus 1 according to the second embodiment is different from the first embodiment in the imaging procedure. In the description of the second embodiment, differences from the first embodiment described above will be mainly described.

  In the first embodiment, the first camera C1 images a subject that enters the first visual field V1 at a time.

  In contrast, in the second embodiment, the first visual field V1 is divided into two visual fields, a right visual field V1R and a left visual field V1L. The first camera C1 images the right visual field V1R of the first visual field V1 and the left visual field V1L of the first visual field V1 at different timings.

  As shown in FIG. 6, the right visual field V1R of the first visual field V1 is a visual field that is wider than the right half when viewed from the center V1C of the first visual field V1 and narrower than the first visual field V1. Therefore, the viewing angle θV1R of the right viewing field V1R is a value obtained by adding Δθ to half of the viewing angle θV1 of the first viewing field V1. The value of Δθ can be set to an arbitrary value.

  As shown in FIG. 7, the left visual field V1L of the first visual field V1 is a visual field that is wider than the left half when viewed from the center V1C of the first visual field V1 and narrower than the first visual field V1. Therefore, the viewing angle θV1L of the left viewing field V1L is a value obtained by adding the above Δθ to half of the viewing angle θV1 of the first viewing field V1.

  Therefore, the right visual field V1R and the left visual field V1L have overlapping portions V1RL that overlap on the left and right of the center V1C of the first visual field V1, as shown in FIGS. The viewing angle θV1RL of the overlapping portion V1RL is twice the above Δθ.

  Here, the viewing angle θV1RL of the overlapping portion V1RL can be arbitrarily set. The viewing angle θV1RL of the superimposing unit V1RL can be determined according to the resolution determined by the specification of the first camera C1, and can be set to a smaller value as the resolution becomes higher. The viewing angle θV1RL of the overlapping portion V1RL can be set to about 5 ° to 10 °, for example.

  In the first embodiment, the first camera C1 images a subject that enters the first visual field V1 at the first timing. On the other hand, in the second embodiment, the first camera C1 images a subject that enters the right visual field V1R of the first visual field V1 at the first timing.

  The first camera C1 includes a light receiving element (not shown) that converts the brightness of incident light from the first visual field V1 into an electrical signal. The first camera C1 activates and activates only the light receiving element corresponding to the right visual field V1R of the first visual field V1 with respect to the light receiving element. That is, the first camera C1 activates only the light receiving element of the portion corresponding to the right visual field V1R by the first imaging command signal that commands the first timing. Accordingly, the first camera C1 can capture only the subject that enters the right visual field V1R of the first visual field V1.

  On the other hand, the first camera C1 captures an image in a state where all the light receiving elements are activated and activated. The first camera C1 takes out only the electric signal obtained by the light receiving element in the portion corresponding to the right visual field V1R of the first visual field V1. Even with such a technique, the first camera C1 can obtain an image obtained by imaging only a subject that substantially enters the right visual field V1R of the first visual field V1.

  In the first embodiment, the third camera C3 images a subject that enters the third visual field V3 at the second timing. On the other hand, in the second embodiment, the third camera C3 images a subject that enters the third visual field V3 at the first timing.

  Therefore, when the first camera C1 captures an image of a subject that enters the right field of view V1R of the first visual field V1, the third camera C3 captures an image of a subject that enters the third field of view V3. Done at the same time.

  In the first embodiment, the first camera C1 images a subject that enters the first visual field V1 at the first timing. On the other hand, in the second embodiment, the first camera C1 images a subject that enters the left visual field V1L of the first visual field V1 at the second timing.

  The first camera C1 activates only the light receiving element corresponding to the left visual field V1L of the first visual field V1 with respect to the light receiving element. That is, the first camera C1 activates only the light receiving element of the portion corresponding to the left visual field V1L by the second imaging command signal that commands the second timing. Accordingly, the first camera C1 can capture only the subject that enters the left visual field V1L of the first visual field V1.

  On the other hand, the first camera C1 captures an image in a state where all the light receiving elements are activated and activated. The first camera C1 takes out only the electric signal obtained by the light receiving element in the portion corresponding to the left visual field V1L of the first visual field V1. Even with such a technique, the first camera C1 can obtain an image obtained by imaging only a subject that substantially enters the left visual field V1L of the first visual field V1.

  Also in the second embodiment, the second camera C2 images a subject that enters the second visual field V2 at the second timing.

  Therefore, when the first camera C1 captures an image of a subject that enters the left visual field V1L of the first visual field V1, the second camera C2 captures an image of a subject that enters the second visual field V2. Done at the same time.

  The first mirror M1 is driven by the first drive unit D1 as in the first embodiment. That is, the first mirror M1 provides the second field of view V2 to the second camera C2 when the second camera C2 captures an image at the second timing. FIG. 7 shows the position of the first mirror M1 when the second camera C2 images at the second timing, and the position of the second mirror M2 when the first camera C1 images at the second timing. Is shown.

  The first mirror M1 does not provide the second field of view V2 to the second camera C2 when the first camera C1 captures an image at the first timing. FIG. 6 shows the position of the first mirror M1 when the first camera C1 captures images at the first timing, and the position of the second mirror M2 when the third camera C3 captures images at the first timing. Is shown.

  In the first embodiment, the second mirror M2 provides the third field of view V3 to the third camera C3 when the third camera C3 captures an image at the second timing. In contrast, in the second embodiment, the second mirror M2 provides the third field of view V3 to the third camera C3 when the third camera C3 captures an image at the first timing. The second mirror M2 does not provide the third field of view V3 to the third camera C3 when the first camera C1 captures an image at the second timing.

  Therefore, the second drive unit D2 drives the second mirror M2 so that the second mirror M2 provides the third field of view V3 to the third camera C3 when the third camera C3 captures an image. To do.

  The control unit 11 gives a first imaging command signal to the first camera C1, and commands the first timing to the first camera C1. The control unit 11 gives a second imaging command signal to the first camera C1 and commands the second timing to the first camera C1.

  The control unit 11 gives a first imaging command signal to the third camera C3 and commands the first timing to the third camera C3.

  In the first embodiment, the control unit 11 gives a first drive signal to the second drive unit D2 to control the second drive unit D2. On the other hand, in the second embodiment, the control unit 11 gives the second drive signal to the second drive unit D2 instead of the first drive signal, and controls the second drive unit D2. Accordingly, the control unit 11 controls the second drive unit D2 so that the second mirror M2 provides the third field of view V3 to the third camera C3 when the third camera C3 captures an image. .

  In the second embodiment, when the second drive unit D2 is configured as shown in FIG. 3, the second drive unit D2 drives the position of the second mirror M2 as shown below. .

  The second driving unit D2 adjusts and controls the rotation speed of the motor 34, whereby the two second mirrors M2 alternately provide the third field of view V3 to the third camera C3 at the first timing. The two second mirrors M2 are driven so that The second driving unit D2 performs the above-described adjustment control so that the two second mirrors M2 are retracted out of the range of the left visual field V1L of the first visual field V1 at the second timing. The second mirror M2 is driven.

  In the second embodiment, when the second drive unit D2 is configured as shown in FIG. 4, the second drive unit D2 drives the position of the second mirror M2 as shown below. .

  The second drive unit D2 adjusts and controls the rotation speed of the motor 34 so that the second mirror M2 is positioned to provide the third field of view V3 to the third camera C3 at the first timing. The second mirror M2 is driven. The second drive unit D2 drives the second mirror M2 so that the second mirror M2 is retracted out of the left visual field V1L of the first visual field V1 at the second timing by the adjustment control.

  Next, with reference to a flowchart shown in FIG. 8, a procedure for imaging by the imaging apparatus 1 according to the second embodiment will be described.

  In FIG. 8, the control part 11 provides a 1st drive signal to the 1st drive part D1 in step S81. In step S81, the first drive unit D1 drives the first mirror M1 based on the first drive signal.

  As a result, the first mirror M1 is retracted out of the range of the first visual field V1 at the first timing. The first mirror M1 moves to the position where the first mirror M1 provides the second field of view V2 to the second camera C2 at the second timing, and the second field of view V2 is moved to the second camera C2. provide.

  In step S81, the control unit 11 provides the second drive signal to the second drive unit D2. In step S81, the second drive unit D2 drives the second mirror M2 based on the second drive signal.

  As a result, the second mirror M2 moves to a position where the third field of view V3 is provided to the third camera C3 at the first timing, and provides the third field of view V3 to the third camera C3. The second mirror M2 retracts outside the range of the first visual field V1 at the second timing.

  In step S82, the control unit 11 provides the first imaging command signal to the first camera C1 and the third camera C3. In step S82, the first camera C1 images a subject that enters the right visual field V1R of the first visual field V1 at the first timing commanded by the first imaging command signal. In step S82, the third camera C3 images a subject that enters the third visual field V3 at the first timing commanded by the first imaging command signal.

  In step S83, the first camera C1 supplies image data of the captured subject image to the storage unit 12. In step S83, the third camera C3 provides the storage unit 12 with image data of the captured subject image.

  In step S83, the storage unit 12 stores the image data provided from the first camera C1. In step S83, the storage unit 12 stores the image data provided from the third camera C3.

  In step S84, the control unit 11 provides the second imaging command signal to the first camera C1 and the second camera C2. In step S84, the first camera C1 images a subject that enters the left visual field V1L of the first visual field V1 at the second timing commanded by the second imaging command signal. In step S84, the second camera C2 images a subject that enters the second visual field V2 at the second timing commanded by the second imaging command signal.

  In step S85, the first camera C1 supplies image data of the captured subject image to the storage unit 12. In step S85, the second camera C2 gives the image data of the captured subject image to the storage unit 12.

  In step S85, the storage unit 12 stores the image data provided from the first camera C1. In step S85, the storage unit 12 stores the image data provided from the second camera C2.

  The imaging device 1 captures an image of a subject that enters the first visual field V1, the second visual field V2, and the third visual field V3 by performing the above-described imaging operation.

  In the procedure of the imaging operation described above, after the first camera C1 and the third camera C3 capture images at the first timing, the first camera C1 and the second camera C2 continue at the second timing. Take an image. On the other hand, the first camera C1 and the second camera C2 may take images at the first timing, and the first camera C1 and the third camera C3 may take images at the second timing. .

  Further, in the procedure of the imaging operation described above, the storage operation for storing the image data of the subject captured by the first camera C1 and the second camera C2 is performed, and then the first camera C1 and the third camera C3. The imaging operation is performed. On the other hand, the storage operation and the imaging operation may be performed simultaneously.

  In the second embodiment described above, the right visual field V1R and the left visual field V1L of the first visual field V1 are the right visual field of the first visual field V1 without moving the principal point N1 of the imaging lens of the first camera C1. There is an overlapping portion V1RL where V1R and the left visual field V1L overlap.

  Further, the first visual field V1 and the second visual field V2 are the first visual field V1 and the second visual field V2 without moving the principal point N1 of the imaging lens of the first camera C1 and the principal point N2 of the imaging lens of the second camera C2. There is an overlapping portion V12 where the visual field V1 and the second visual field V2 overlap. In addition, the first visual field V1 and the third visual field V3 are the first visual field V1 and the third visual field V3 without moving the main point N1 of the imaging lens of the first camera C1 and the main point N3 of the imaging lens of the third camera C3. There is an overlapping portion V13 where the visual field V1 and the third visual field V3 overlap.

  Thereby, when the imaging device 1 of 2nd Embodiment joins the image of the to-be-photographed object which the 1st camera C1, the 2nd camera C2, and the 3rd camera C3 joined, the image of a joint part is missing. There is nothing.

  The first camera C1 and the second camera C2 image the subject in a state where the principal point N1 of the imaging lens of the first camera C1 and the principal point N2 of the imaging lens of the second camera C2 are matched. It becomes possible to do. The first camera C1 and the third camera C3 image the subject in a state where the principal point N1 of the imaging lens of the first camera C1 and the principal point N3 of the imaging lens of the third camera C3 are matched. It becomes possible to do.

  As a result, the first camera C1, the second camera C2, and the third camera C3 can image the subject in a state where the principal points N1, N2, and N3 of the imaging lenses of the respective cameras are matched.

  Therefore, the imaging device 1 and the imaging method employed by the imaging device 1 according to the second embodiment are obtained when the images of the subject captured by the first camera C1, the second camera C2, and the third camera C3 are joined. It is possible to avoid an unnatural image at the joint portion.

  In the first and second embodiments, the first camera C1, the second camera C2, and the third camera C3 are configured with cameras that capture still images of subjects.

  On the other hand, the first camera C1, the second camera C2, and the third camera C3 can be configured by a camera that captures a moving image of a subject instead of a camera that captures a still image of the subject. In that case, the imaging device 1 cuts out an image of a predetermined frame from the moving image obtained by imaging, and acquires the cut-out image as a still image.

  Thereby, the imaging device 1 acquires the image data of the still image of the subject as in the case where the first camera C1, the second camera C2, and the third camera C3 are configured with cameras that capture still images. be able to.

  In the first embodiment and the second embodiment, the second field of view V2 is provided by the first mirror M1, and the third field of view V3 is provided by the second mirror M2.

  The 2nd visual field V2 and the 3rd visual field V3 can be provided using the optical element which can implement | achieve the function equivalent to a mirror instead of the 1st mirror M1 and the 2nd mirror M2. Examples of the optical element include a lens that refracts light to diverge or converge, and may be a prism lens, for example.

DESCRIPTION OF SYMBOLS 1 Imaging device 11 Control part 12 Memory | storage part 31 1st visual field provision part 32 2nd visual field provision part C1, C2, C3 Camera D1 1st drive part D2 2nd drive part M1 1st mirror M2 2nd Mirror N1, N2, N3 Imaging lens principal point V1 First field of view V2 Second field of view V3 Third field of view V1R Right field of view V1L Left field of view V12, V13 V1RL

Claims (6)

A first camera for imaging a subject entering a first field of view;
A second camera, which is arranged at a position different from the position where the first camera is arranged, and which captures a subject that enters the second field of view;
A third camera that is arranged at a position different from the position where the first camera and the second camera are arranged, and that captures an object that enters a third field of view;
A first field providing unit that provides the second field of view to the second camera when the second camera images a subject;
A second visual field providing unit that provides the third visual field to the third camera when the third camera images a subject;
Controlling the first field-of-view providing unit so that the first field-of-view providing unit provides the second camera with a second field of view when the second camera captures an image of the subject; A control unit that controls the second field-of-view providing unit so that the second field-of-view providing unit provides the third camera with the third field of view when the camera images a subject;
With
The first camera images a subject that enters the first visual field at a first timing;
The second camera images a subject that enters the second visual field at a second timing,
The third camera captures an image of a subject entering the third field of view at the second timing;
The second field of view is adjacent to the right side of the first field of view as viewed from the principal point of the imaging lens of the first camera, and a part of the field of view on the left side of the second field of view is the first field of view. It overlaps with a part of the field on the right side of the field of view,
The third field of view is adjacent to the left side of the first field of view as viewed from the principal point of the imaging lens of the first camera, and a part of the field of view on the right side of the third field of view is the first field of view. An imaging device, wherein the imaging device overlaps with a partial visual field on the left side of the visual field. A first camera for imaging a subject entering a first field of view;
A second camera, which is arranged at a position different from the position where the first camera is arranged, and which captures a subject that enters the second field of view;
A third camera that is arranged at a position different from the position where the first camera and the second camera are arranged, and that captures an object that enters a third field of view;
A first field providing unit that provides the second field of view to the second camera when the second camera images a subject;
A second visual field providing unit that provides the third visual field to the third camera when the third camera images a subject;
Controlling the first visual field providing unit so that the first visual field providing unit provides the second camera with the second visual field when the second camera captures an image of the subject; A control unit that controls the second field-of-view providing unit so that the second field-of-view providing unit provides the third camera with the third field of view when the camera captures a subject;
With
The first camera picks up an image of a subject that enters a right field of view narrower than the first field of view and wider than a right half of the first field of view at a first timing, and is narrower than the first field of view and Capture a subject that enters the left field of view wider than the left half of the first field of view at the second timing,
The second camera captures an image of a subject entering the second field of view at the second timing;
The third camera captures an image of a subject entering the third field of view at the first timing;
A portion of the right field of view of the first field of view and the left field of view overlap;
The second field of view is adjacent to the right side of the first field of view as viewed from the principal point of the imaging lens of the first camera, and a part of the field of view on the left side of the second field of view is the first field of view. It overlaps with a part of the field on the right side of the field of view,
The third field of view is adjacent to the left side of the first field of view as viewed from the principal point of the imaging lens of the first camera, and a part of the field of view on the right side of the third field of view is the first field of view. An imaging device, wherein the imaging device overlaps with a partial visual field on the left side of the visual field. The first visual field providing unit includes a first mirror and a first driving unit,
The first mirror provides the second camera with a virtual image of a subject entering the second field of view;
The first drive unit is configured such that when the second camera captures an image of the subject, the first mirror is positioned to provide a virtual image of the subject entering the second field of view to the second camera. Driving the first mirror;
The second visual field providing unit includes a second mirror and a second driving unit,
The second mirror provides the third camera with a virtual image of a subject entering the third field of view;
The second driving unit is configured such that when the third camera images a subject, the second mirror is positioned to provide a virtual image of the subject entering the third field of view to the third camera. The imaging apparatus according to claim 1, wherein the second mirror is driven. A first camera captures an image of a subject entering the first field of view at a first timing;
The second camera arranged at a position different from the position where the first camera is arranged takes an image of a subject entering the second visual field provided by the first visual field providing unit at the second timing,
The third camera arranged at a position different from the position where the first camera and the second camera are arranged is in the third field of view provided by the second field-of-view providing unit at the second timing. Take an image of the subject
The second field of view is adjacent to the right side of the first field of view as viewed from the principal point of the imaging lens of the first camera, and a part of the field of view on the left side of the second field of view is the first field of view. It overlaps with a part of the field on the right side of the field of view,
The third field of view is adjacent to the left side of the first field of view as viewed from the principal point of the imaging lens of the first camera, and a part of the field of view on the right side of the third field of view is the first field of view. An imaging method characterized by overlapping a partial visual field on the left side of the visual field. The first camera picks up an image of a subject that enters the right visual field that is narrower than the first visual field and wider than the right half of the first visual field at a first timing, and is narrower than the first visual field and the first Image a subject that enters the left field of view wider than the left half of the field of view at the second timing,
The second camera arranged at a position different from the position where the first camera is arranged takes an image of a subject entering the second visual field provided by the first visual field providing unit at the second timing,
A third camera disposed at a position different from the position where the first camera and the second camera are disposed is a subject that enters a third field of view provided by a second field of view providing unit. The image is taken at the timing of
A portion of the right field of view of the first field of view and the left field of view overlap;
The second field of view is adjacent to the right side of the first field of view as viewed from the principal point of the imaging lens of the first camera, and a part of the field of view on the left side of the second field of view is the first field of view. It overlaps with a part of the field on the right side of the field of view,
The third field of view is adjacent to the left side of the first field of view as viewed from the principal point of the imaging lens of the first camera, and a part of the field of view on the right side of the third field of view is the first field of view. An imaging method characterized by overlapping a partial visual field on the left side of the visual field. The first visual field providing unit includes a first mirror and a first driving unit,
The first mirror provides the second camera with a virtual image of a subject entering the second field of view;
The first drive unit is configured such that when the second camera captures an image of the subject, the first mirror is positioned to provide a virtual image of the subject entering the second field of view to the second camera. Driving the first mirror;
The second visual field providing unit includes a second mirror and a second driving unit,
The second mirror provides the third camera with a virtual image of a subject entering the third field of view;
The second driving unit is configured such that when the third camera images a subject, the second mirror is positioned to provide a virtual image of the subject entering the third field of view to the third camera. The imaging method according to claim 4, wherein the second mirror is driven.

Images