JP2018017568A5 - - Google Patents
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- JP2018017568A5 JP2018017568A5 JP2016146929A JP2016146929A JP2018017568A5 JP 2018017568 A5 JP2018017568 A5 JP 2018017568A5 JP 2016146929 A JP2016146929 A JP 2016146929A JP 2016146929 A JP2016146929 A JP 2016146929A JP 2018017568 A5 JP2018017568 A5 JP 2018017568A5
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- image shift
- distance information
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- 210000001747 Pupil Anatomy 0.000 claims description 15
- 230000000875 corresponding Effects 0.000 claims description 12
- 238000003384 imaging method Methods 0.000 claims description 12
- 230000003287 optical Effects 0.000 claims description 11
- 238000000691 measurement method Methods 0.000 claims description 2
- 238000006243 chemical reaction Methods 0.000 claims 5
- 230000001131 transforming Effects 0.000 claims 1
Description
本発明の第一の態様に係る距離測定装置は、
結像光学系の第一の瞳領域を通過した光束に対応する第一の信号からなる第一の像と、前記結像光学系の前記第一の瞳領域とは異なる第二の瞳領域を通過した光束に対応する第二の信号からなる第二の像と、のあいだの像ズレ量を取得する第一の取得手段と、
前記像ズレ量に基づいて距離情報を取得する第二の取得手段と、
を備え、
前記第一の取得手段は、歪曲を含んだ前記第一の像および前記第二の像に基づいて前記像ズレ量を取得し、
前記第二の取得手段は、前記第一の取得手段が取得した前記像ズレ量に対して、画素位置に応じ像ズレ量から歪曲による影響を補正して前記距離情報を取得する、
ことを特徴とする。
The distance measuring device according to the first aspect of the present invention includes:
A first image composed of a first signal corresponding to a light beam that has passed through the first pupil region of the imaging optical system, and a second pupil region different from the first pupil region of the imaging optical system. A first acquisition means for acquiring an image shift amount between the second image consisting of the second signal corresponding to the light beam that has passed;
Second acquisition means for acquiring distance information based on the image shift amount;
With
The first acquisition means acquires the image shift amount based on the first image and the second image including distortion,
The second acquisition unit acquires the distance information by correcting the influence of distortion from the image shift amount according to the pixel position with respect to the image shift amount acquired by the first acquisition unit.
It is characterized by that.
本発明の第二の態様に係る距離測定方法は、
距離測定装置における距離測定方法であって、
結像光学系の第一の瞳領域を通過した光束に対応する第一の信号からなる第一の像と、前記結像光学系の前記第一の瞳領域とは異なる第二の瞳領域を通過した光束に対応する第二の信号からなる第二の像と、のあいだの像ズレ量を取得する像ズレ量取得ステップと、
前記像ズレ量に基づいて距離情報を取得する距離情報取得ステップと、
を含み、
前記像ズレ量取得ステップでは、歪曲を含んだ前記第一の像および前記第二の像に基づいて前記像ズレ量を取得し、
前記距離情報取得ステップでは、画素位置に応じ像ズレ量から歪曲による影響を補正して前記距離情報を取得する、
ことを特徴とする。
The distance measurement method according to the second aspect of the present invention includes:
A distance measuring method in a distance measuring device,
A first image composed of a first signal corresponding to a light beam that has passed through the first pupil region of the imaging optical system, and a second pupil region different from the first pupil region of the imaging optical system. An image shift amount acquisition step for acquiring an image shift amount between the second image composed of the second signal corresponding to the light beam that has passed;
A distance information acquisition step of acquiring distance information based on the image shift amount;
Including
In the image shift amount acquisition step, the image shift amount is acquired based on the first image and the second image including distortion,
In the distance information acquisition step, the distance information is acquired by correcting the influence of distortion from the image shift amount according to the pixel position.
It is characterized by that.
Claims (12)
前記像ズレ量に基づいて距離情報を取得する第二の取得手段と、
を備え、
前記第一の取得手段は、歪曲を含んだ前記第一の像および前記第二の像に基づいて前記像ズレ量を取得し、
前記第二の取得手段は、前記第一の取得手段が取得した前記像ズレ量に対して、画素位置に応じ像ズレ量から歪曲による影響を補正して前記距離情報を取得する、
距離測定装置。 A first image composed of a first signal corresponding to a light beam that has passed through the first pupil region of the imaging optical system, and a second pupil region different from the first pupil region of the imaging optical system. A first acquisition means for acquiring an image shift amount between the second image consisting of the second signal corresponding to the light beam that has passed;
Second acquisition means for acquiring distance information based on the image shift amount;
With
The first acquisition means acquires the image shift amount based on the first image and the second image including distortion,
The second acquisition unit acquires the distance information by correcting the influence of distortion from the image shift amount according to the pixel position with respect to the image shift amount acquired by the first acquisition unit.
Distance measuring device.
請求項１に記載の距離測定装置。 It said second acquisition means, based on the coefficient map for holding a different value depending on the pixel position, before performing Kiho positive,
The distance measuring device according to claim 1.
請求項２に記載の距離測定装置。 The coefficient map holds different values depending on the image shift amount acquired by the first acquisition unit.
The distance measuring device according to claim 2.
請求項２または３に記載の距離測定装置。 The coefficient map holds different values depending on the method used by the first acquisition unit to acquire the image shift amount.
The distance measuring device according to claim 2 or 3.
前記第二の取得手段は、像ズレ量を距離情報に変換するための換算係数を記憶しており、
前記第二の取得手段は、前記第一の取得手段が取得する前記像ズレ量と、前記換算係数と、前記係数マップに記憶される前記像ズレ補正量に基づいて、前記距離情報を計算し、歪曲を含む画像に対応する距離情報マップを出力する、
請求項２から４のいずれか１項に記載の距離測定装置。 The coefficient map stores an image shift correction amount for correcting an image shift amount obtained from the first and second images including distortion to an image shift amount obtained from the first and second images corrected for distortion. And
The second acquisition means stores a conversion coefficient for converting the image shift amount into distance information,
The second acquisition unit calculates the distance information based on the image shift amount acquired by the first acquisition unit, the conversion coefficient, and the image shift correction amount stored in the coefficient map. , Output a distance information map corresponding to the image containing distortion,
The distance measuring device according to any one of claims 2 to 4.
前記第二の取得手段は、前記第一の取得手段が取得する前記像ズレ量と、前記係数マップに記憶される前記像ズレ補正量と前記換算係数の積に基づいて、前記距離情報を計算し、歪曲を含む画像に対応する距離情報マップを出力する、
請求項２から４のいずれか１項に記載の距離測定装置。 The coefficient map includes an image shift correction amount for correcting an image shift amount obtained from the first and second images including distortion to an image shift amount obtained from the first and second images corrected for distortion, and A product of a conversion coefficient for converting an image shift amount into distance information and a conversion coefficient having a different value depending on the pixel position,
The second acquisition unit calculates the distance information based on a product of the image shift amount acquired by the first acquisition unit and the image shift correction amount stored in the coefficient map and the conversion coefficient. And output a distance information map corresponding to the image including the distortion,
The distance measuring device according to any one of claims 2 to 4.
請求項１から６のいずれか１項に記載の距離測定装置。 Geometric deformation means for performing distortion correction on the map of distance information acquired by the second acquisition means is further provided.
The distance measuring device according to any one of claims 1 to 6.
請求項１から７のいずれか１項に記載の距離測定装置。 The pixel position of the first image or the second image used as a reference when the first acquisition unit acquires the image shift amount with respect to the map of distance information acquired by the second acquisition unit Further comprising geometric deformation means for performing coordinate transformation to move the image to a corresponding position in a mixed image obtained by mixing the first image and the second image.
The distance measuring device according to any one of claims 1 to 7.
乗補間を用いる、
請求項７または８に記載の距離測定装置。 The geometric deformation means uses spline interpolation, Lanczos-n interpolation, or chi-square interpolation as an interpolation method.
The distance measuring device according to claim 7 or 8.
前記結像光学系の第一の瞳領域を通過した光束に対応する第一の信号および、前記結像光学系の前記第一の瞳領域とは異なる第二の瞳領域を通過した光束に対応する第二の信号とを取得する撮像素子と、
請求項１から９のいずれか１項に記載の距離測定装置と、
を備える撮像装置。 An imaging optical system;
Corresponds to the first signal corresponding to the light beam that has passed through the first pupil region of the imaging optical system and the light beam that has passed through a second pupil region different from the first pupil region of the imaging optical system An image sensor for acquiring a second signal to be transmitted;
The distance measuring device according to any one of claims 1 to 9,
An imaging apparatus comprising:
結像光学系の第一の瞳領域を通過した光束に対応する第一の信号からなる第一の像と、前記結像光学系の前記第一の瞳領域とは異なる第二の瞳領域を通過した光束に対応する第二の信号からなる第二の像と、のあいだの像ズレ量を取得する像ズレ量取得ステップと、
前記像ズレ量に基づいて距離情報を取得する距離情報取得ステップと、
を含み、
前記像ズレ量取得ステップでは、歪曲を含んだ前記第一の像および前記第二の像に基づいて前記像ズレ量を取得し、
前記距離情報取得ステップでは、画素位置に応じ像ズレ量から歪曲による影響を補正して前記距離情報を取得する、
距離測定方法。 A distance measuring method in a distance measuring device,
A first image composed of a first signal corresponding to a light beam that has passed through the first pupil region of the imaging optical system, and a second pupil region different from the first pupil region of the imaging optical system. An image shift amount acquisition step for acquiring an image shift amount between the second image composed of the second signal corresponding to the light beam that has passed;
A distance information acquisition step of acquiring distance information based on the image shift amount;
Including
In the image shift amount acquisition step, the image shift amount is acquired based on the first image and the second image including distortion,
In the distance information acquisition step, the distance information is acquired by correcting the influence of distortion from the image shift amount according to the pixel position.
Distance measurement method.
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| JP2018017568A JP2018017568A (en) | 2018-02-01 |
| JP2018017568A5 true JP2018017568A5 (en) | 2019-08-29 |
| JP6755737B2 JP6755737B2 (en) | 2020-09-16 |
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| JP7241492B2 (en) * | 2018-09-13 | 2023-03-17 | キヤノン株式会社 | Image processing device, image processing method, program, and storage medium |
| JP2022019374A (en) * | 2020-07-17 | 2022-01-27 | キヤノン株式会社 | Image processing method, program image processing device, method of producing trained model, and image processing system |
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| JP2008298589A (en) * | 2007-05-31 | 2008-12-11 | Konica Minolta Holdings Inc | Device and method for detecting positions |
| JP5229541B2 (en) * | 2008-05-29 | 2013-07-03 | 株式会社ニコン | Distance measuring device, distance measuring method, and program |
| JP2010041418A (en) * | 2008-08-05 | 2010-02-18 | Olympus Corp | Image processor, image processing program, image processing method, and electronic apparatus |
| JP5192096B2 (en) * | 2010-03-24 | 2013-05-08 | 富士フイルム株式会社 | Stereo imaging device |
| JP6167525B2 (en) * | 2012-03-21 | 2017-07-26 | 株式会社リコー | Distance measuring device and vehicle |
| JP6044868B2 (en) * | 2012-06-26 | 2016-12-14 | 株式会社リコー | Stereo camera calibration apparatus and method, and distance measurement apparatus |
| JP5996319B2 (en) * | 2012-07-31 | 2016-09-21 | オリンパス株式会社 | Stereo measurement device and method of operating stereo measurement device |
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