JP2024011370A - Imaging apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an imaging apparatus capable of capturing a wide area and capturing a subject in the periphery without distortion.

SOLUTION: The imaging apparatus includes an omnidirectional camera and a plurality of cameras arranged in a circle around the omnidirectional camera and having a focal length longer than the focal length of the omnidirectional camera. The plurality of cameras is arranged to capture positions corresponding to peripheral areas in an image acquired by the omnidirectional camera.

SELECTED DRAWING: Figure 2

COPYRIGHT: (C)2024,JPO&INPIT

Description

The present invention relates to an imaging device, and particularly to an imaging device having a plurality of imaging units.

2. Description of the Related Art Omnidirectional cameras equipped with an ultra-wide-angle lens and capable of viewing 360 degrees around the camera have been known. This omnidirectional camera is capable of monitoring a wide area with a single camera, and it is possible to monitor a wide area with a bird's-eye view, and to monitor a plurality of monitoring targets with a single camera (Patent Document 1).

JP2019-32448

However, in the conventional technology disclosed in Patent Document 1 mentioned above, due to the characteristics of the ultra-wide-angle lens, there are problems in that aberrations in the peripheral part of the lens become large and distortion in objects located in the peripheral part of the lens increases.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide an imaging device that is capable of imaging a wide range of images and that can also image objects in peripheral areas without distortion.

To achieve the above object, the imaging device includes an omnidirectional camera, and a plurality of cameras arranged in a circle around the omnidirectional camera and having a focal length longer than that of the omnidirectional camera. The plurality of cameras are arranged so as to capture a position corresponding to a peripheral part of the image acquired by the omnidirectional camera.

Advantageous Effects of Invention According to the present invention, it is possible to provide an imaging device that is capable of photographing a wide range and can also image a subject in the peripheral area without distortion.

A block diagram showing the configuration of an imaging device according to Embodiment 1 of the present invention A schematic diagram regarding the arrangement of an imaging unit of an imaging device according to Embodiment 1 of the present invention A diagram showing the imaging range of the imaging unit 1001 according to Embodiment 1 of the present invention A diagram showing the imaging range of the imaging unit 1002 according to Embodiment 1 of the present invention A diagram showing the photographing range of the imaging unit 1002 to the imaging unit 1003 according to Embodiment 1 of the present invention A diagram showing the relationship between shooting ranges according to Embodiment 1 of the present invention A diagram showing the photographing range from the imaging unit 1002 to the imaging unit 1005 in the range 3001 according to the first embodiment of the present invention Flow diagram according to Embodiment 1 of the present invention A diagram showing an example of input from a user according to Embodiment 1 of the present invention A diagram showing an example of a display according to Embodiment 1 of the present invention A schematic diagram regarding the arrangement of an imaging unit of an imaging device according to Embodiment 2 of the present invention Schematic diagram regarding rotational operation of the imaging unit of the imaging device according to Embodiment 2 of the present invention A block diagram showing the configuration of an imaging device according to Embodiment 2 of the present invention Flow diagram according to Embodiment 2 of the present invention A diagram showing the relationship between photographing ranges according to Embodiment 2 of the present invention A diagram showing the photographing range from the imaging unit 2002 to the imaging unit 2005 in the range 5001 according to the second embodiment of the present invention A diagram showing an example of input from a user according to Embodiment 2 of the present invention A diagram showing an example of a display according to Embodiment 2 of the present invention

Hereinafter, preferred embodiments of the present invention will be described in detail based on the accompanying drawings.

<Embodiment 1>
A first embodiment of the present invention will be described below. FIG. 1 is a block diagram of the configuration of an imaging device according to an embodiment of the present invention. The imaging apparatus 1000 includes an imaging unit 1001, an imaging unit 1002, an imaging unit 1003, an imaging unit 1004, an imaging unit 1005, a signal processing unit 1006, and a distribution unit 1007.

The imaging unit 1001 includes a lens 1011 and an image sensor (not shown) such as a CCD or CMOS, and converts light incident from the lens into an electrical signal by the image sensor. Further, the lens 1011 is an ultra-wide-angle lens such as a fisheye lens, and the horizontal angle of view is 180° or more.

The imaging unit 1002 includes a lens 1012 and an imaging device such as a CCD or CMOS, and the imaging device converts light incident from the lens into an electrical signal. Lens 1012 has a horizontal angle of view smaller than 180°, which is narrower than lens 1011. That is, the focal length of lens 1012 is longer than the focal length of lens 1011.

The imaging unit 1003 includes a lens 1013 and an imaging device such as a CCD or CMOS, and the imaging device converts light incident from the lens into an electrical signal. Lens 1013 has a horizontal angle of view smaller than 180°, which is narrower than lens 1011. That is, the focal length of lens 1013 is longer than the focal length of lens 1011.

The imaging unit 1004 includes a lens 1014 and an imaging device such as a CCD or CMOS, and the imaging device converts light incident from the lens into an electrical signal. Lens 1014 has a horizontal angle of view smaller than 180°, which is narrower than lens 1011 . That is, the focal length of lens 1014 is longer than the focal length of lens 1011.

The imaging unit 1005 includes a lens 1015 and an imaging device such as a CCD or CMOS, and the imaging device converts light incident from the lens 1015 into an electrical signal. Lens 1015 has a horizontal angle of view smaller than 180°, which is narrower than lens 1011. That is, the focal length of lens 1015 is longer than the focal length of lens 1011. Lenses 1012 to 1015 all have the same focal length. Further, the lenses 1012 to 1015 have a fixed focus (the focal length is constant) and do not have a zoom function.

The signal processing unit 1006 performs predetermined image processing and compression encoding processing on the electrical signals output from the imaging unit 1001, imaging unit 1002, imaging unit 1003, imaging unit 1004, and imaging unit 1005, and generates image data. do.

Further, setting values of shooting conditions are transmitted to the imaging unit 1001, imaging unit 1002, imaging unit 1003, imaging unit 1004, and imaging unit 1005 to change the driving state of each imaging unit. Here, the photographing conditions include gain conditions, gamma conditions, dynamic range conditions, exposure conditions, focus conditions, and the like.

The distribution unit 1007 is connected to a network 1500, and a terminal 1600 is further connected to the network 1500. Here, the terminal 1600 is a personal computer or the like, and is a device having a display device such as a display and a user interface such as a keyboard and a mouse. The distribution unit 1007 converts the image data output from the signal processing unit 1006 into an appropriate signal format and distributes it to the network 1500. The distributed image data is displayed to the user by the terminal 1600. Further, information input by the user to the terminal 1600 is transmitted to the communication unit 1007 via the network 1500, converted into an appropriate format, and then transmitted to the signal processing unit 1006.

Next, the positional relationship among the imaging section 1001, the imaging section 1002, the imaging section 1003, the imaging section 1004, and the imaging section 1005 in the imaging apparatus 1000 will be described using FIG. 2. 2(a) is a side view of the imaging device 1000, and FIG. 2(b) is a top view of the imaging device 1000. The imaging units are arranged concentrically with the imaging unit 1001 at the center, and the imaging units 1002, 1003, 1004, and 1005 are each arranged at 90-degree intervals. That is, the plurality of cameras (imaging unit 1002, imaging unit 1003, imaging unit 1004, and imaging unit 1005) are arranged in a circle at equal intervals. Note that the arrangement of the imaging units is merely an example, and other imaging units may be arranged so as to surround the imaging unit 1001, for example, in an elliptical shape.

Next, the photographing ranges of the imaging section 1001, the imaging section 1002, the imaging section 1003, the imaging section 1004, and the imaging section 1005 and their relationships will be described using FIGS. 3 to 5.

First, the imaging range of the imaging unit 1001 will be explained using FIG. 3. The photographing range of the imaging unit 1001 is indicated by a range 3001. As described above, the lens 1011 of the imaging unit 1001 has a horizontal angle of view of 180°, and the imaging unit 1001 can photograph a 360° range around it. Therefore, the range 3001 has a hemispherical shape. Here, for the sake of explanation, the center of the range 3001 is assumed to be a point O.

The imaging range of the imaging units 1002 to 1005 will be described using FIG. 4. The imaging units 1002 to 1005 photograph the peripheral portion of the range 3001 that the imaging unit 1001 is photographing. When the optical axis of the imaging unit 1002 is L2 and the imaging range is a range 3002, the range 3002 becomes a rectangle ABCD orthogonal to L2. Here, the size of the rectangle ABCD is within a range that is appropriately set based on the focal length of the lens 1012, the depth of field of the imaging unit 1002, and the like.

Furthermore, the optical axes of the imaging unit 1003, the imaging unit 1004, and the imaging unit 1005 are L3, L4, and L5, respectively, and the imaging ranges are a range 3003, a range 3004, and a range 3005, respectively. In this case, ranges 3003 to 3005 have the same shape as range 3002, and are arranged every 90 degrees around point O. FIG. 5 shows the positional relationship of the imaging range of each imaging device when viewed from the vertical direction. In this way, the imaging unit 1002, the imaging unit 1003, the imaging unit 1004, and the imaging unit 1005 can image a 360-degree range corresponding to the peripheral part of the image acquired by the imaging unit 1001 by sharing the imaging range. It is possible. Note that the imaging range of each imaging unit described above is an example, and is appropriately set depending on the performance of the imaging unit and the object to be photographed.

The signal processing unit 1006 stores, as two-dimensional coordinate information, the position of the imaging range of the imaging units 1002 to 1005 shown in FIG. 3 in the imaging range 3001 of the imaging unit 1001. There is. This coordinate information will be explained using FIGS. 6 to 8.

FIG. 6 shows the positional relationship between the imaging range 3001 of the imaging unit 1001 and the imaging range 3002 of the imaging unit 1002. Here, an area 3012 surrounded by points A1, B1, C1, and D1 is the shooting position of the imaging unit 1002 within the shooting range 3001. Furthermore, as shown in FIG. 7A, similarly to the area 3012, the imaging positions within the imaging range 3001 are set as an area 3013, an area 3014, and an area 3015, respectively, regarding the imaging unit 1003, the imaging unit 1004, and the imaging unit 1005. .

Furthermore, as shown in FIG. 7(b), this information is stored as two-dimensional coordinate information on the photographing range 3001. Note that this coordinate information is recorded in a nonvolatile memory or the like not shown in the block diagram of FIG. 1, and the information is read out and used by the signal processing unit 1006.

Next, the processing flow of the first embodiment will be described using FIG. 8. The flowchart in FIG. 8 illustrates a processing procedure executed by controlling each processing block by the signal processing unit 1006. Further, this flow is realized by the signal processing unit 1006 (determination means) developing and executing a program stored in a nonvolatile memory or the like (not shown in the block diagram of FIG. 1).

When this flow starts, first in S100, a video imaged by the imaging unit 1001 is converted into an appropriate format and distributed to the terminal 1600 via the network 1500. Next, in S101, it is determined whether the user has designated a position of interest. In other words, it is determined whether position information regarding the position specified by the user has been acquired. The user specifies a position of interest on the image captured by the imaging unit 1001.

Here, as shown in FIG. 9A, it is assumed that a point H (xh, Yh) is specified by the user as a point to be gazed at via an interface such as a mouse of a terminal. In this case, the coordinate information of point H is transmitted from the terminal 1600 to the imaging device 1000 via the network. When the imaging device 1000 receives this coordinate information, it proceeds to S102. If the user does not specify a location, the process waits in this flow until the location is specified.

Subsequently, in S102, it is determined whether the coordinates of the designated point H are within the imaging area of the imaging unit. Here, it is determined whether the object exists in any of the areas 3012 to 3015, which are the imaging ranges of the imaging units 1002 to 1005. The coordinates of the omnidirectional image 4001 and the area 3001 shown in FIGS. 9(a) and 9(b) correspond. H1 (xh1, yh1) on the area 3001 is calculated by multiplying the coordinate H on the input omnidirectional image 4001 by an appropriate conversion coefficient α and performing coordinate transformation as shown in Equation 1 below. .

Next, it is determined whether the calculated H1 (xh1, yh1) exists in any of the areas 3011, 3012, 3013, 3014, and 3015. In this case, it is determined that H1 exists in region 3012. If it exists in any area, the process advances to S103; if it does not exist in any area, the process advances to S101.

In S103, it is determined which imaging unit has the region in which the designated point H1 exists, and the information is retained. Since it is determined in S102 that the point H1 exists in the area 3012, the imaging unit 1002 is selected here. That is, based on the positional information specified on the image acquired by the imaging unit 1001, the imaging unit that images the specified position is determined from among the plurality of imaging units.

In S104, the video of the selected imaging unit is transmitted to the terminal 1600. Here, the video from the imaging unit 1002 is transmitted. The above process is performed and the flow ends. On the terminal 1600, the transmitted image taken by the imaging unit is displayed. FIG. 10 shows an example of the display. Here, a captured image 4002 of the imaging unit 1002 is displayed at a position adjacent to a captured image 4000 of the imaging unit 1001.

With the above configuration, it is possible to provide an imaging device that can accurately visually recognize the subject of interest even when the subject of interest exists in the periphery of the lens 1011.

<Embodiment 2>
Embodiment 2 of the present invention will be described below. FIG. 11 is a schematic diagram of an imaging device 2000 according to an embodiment of the present invention. FIG. 11(a) is a front view, and FIG. 11(b) is a top view. The imaging unit 2002, the imaging unit 2003, the imaging unit 2004, and the imaging unit 2005 of the imaging apparatus 2000 can change their angles around the X-axis, Y-axis, and Z-axis, respectively. In other words, the imaging direction of the imaging unit 2002, imaging unit 2003, imaging unit 2004, and imaging unit 2005 of the imaging apparatus 2000 can be changed. FIG. 12 shows an example of the rotation operation of the imaging unit 2002. Here, the angle is changed by θp around the X-axis, θt around the Y-axis, and θr around the Z-axis. It is assumed that the same rotational operation as that of the imaging unit 2002 can be performed independently in the imaging unit 2003, the imaging unit 2004, and the imaging unit 2005.

FIG. 13 shows a block diagram of an imaging device 2000 in this embodiment. This is a structure in which a rotation angle detection unit for detecting the rotation angle of each imaging unit is newly added to the block diagram of the first embodiment. The rotation angle detection section is composed of a device capable of detecting an angle, such as a rotary encoder.

Here, a rotation angle detection unit 2022 performs angle detection for each of the X-axis, Y-axis, and Z-axis with respect to the imaging unit 2002. Similarly, a rotation angle detection unit 2023, a rotation angle detection unit 2024, and a rotation angle detection unit 2025 detect the angles of the imaging units 2003, 2004, and 2005, respectively. The angle information detected by the rotation angle detection section is sent to the signal processing section 2006 in an appropriate format. The other blocks have the same functions as those in the block diagram of FIG. 1 of the first embodiment.

Next, the processing flow of the second embodiment will be described using FIG. 14. The flowchart in FIG. 14 illustrates a processing procedure executed by the signal processing unit 2006 to control each processing block. Further, this flow is realized by the signal processing unit 2006 developing and executing a program stored in a nonvolatile memory or the like (not shown in the block diagram of FIG. 13).

When this flow starts, first in S200, the angle of each imaging unit is acquired from the rotation angle detection unit. Hereinafter, for the sake of brevity, this embodiment will be described only with respect to the imaging unit 2002, but it is assumed that similar processing is performed in the imaging unit 2003, imaging unit 2004, and imaging unit 2005 as well. Further, in this flow, a case will be described in which the angle of the imaging unit 2002 is changed by θp around the X axis, θt around the Y axis, and θr around the Z axis, as shown in FIG. 12 described above.

In S200, the imaging area of each imaging unit relative to the imaging range of the imaging unit 2001 is determined. An example of the calculation method will be described using FIG. 15. As shown in FIG. 15A, if the imaging range of the imaging unit 2001 is a range 5001, the range 5001 has a hemispherical shape. Further, as shown in FIG. 15(b), the signal processing unit 2006 stores in advance information on a photographing area 5002 corresponding to the angle of view of the lens 2012 attached to the imaging unit 2002. Here, the intersection of the optical axis and the imaging section 5001 at an initial position preset for the imaging section 2002 is set as a point N2, and the vertices of the area 5002 are set as a point S0, a point T0, a point U0, and a point V0, respectively. Next, the intersection of the optical axis of the imaging unit 2002 and the region 5001 after rotating by θp around the X-axis, θt around the Y-axis, and θr around the Z-axis is defined as a point M2. Here, let the coordinates of point N2 and point M2 be N2 (n2x, n2y, n2z) and M2 (m2x, m2y, m2z), respectively. The conversion from N2 to M2 is expressed by the following (Equation 2).

A coordinate transformation similar to the transformation from N2 to M2 is performed on points S0, T0, U0, and V0 to find the coordinates of points S, T, U, and V. The area surrounded by points S, T, U, and V is the imaging path area after the rotation operation of the imaging unit 2002, and is referred to as an area 5012 here. In S201, the area 5012 is calculated and the process proceeds to the next step.

In S201, points S1, T1, U1, and V1 on the area 5001 shown in FIG. 16A are obtained by multiplying the points S, T, U, and V obtained in S201 by appropriate coefficients. seek. Further, the area surrounded by the point S1, the point T1, the point U1, and the point V1 becomes the imaging area of the imaging unit 2002 in the area 5001, which is the imaging area of the imaging unit 2001, and this area is referred to as an area 5022 here. In S202, a region 5022 is calculated, and as shown in FIG. 16-2, the region 5022 is calculated as two-dimensional coordinates on the region 5001, and the process proceeds to S203.

In S202, the image captured by the imaging unit 2001 is converted into an appropriate format and distributed to the terminal 1600 via the network 1500. In S203, it is determined whether the user has specified the coordinates of a position of interest. In other words, it is determined whether position information regarding the position specified by the user has been acquired.

Here, as shown in FIG. 17(a), the image captured by the imaging unit 2001 is defined as an image 6001, and a point H(xh , yh) are specified. In this case, coordinate information of point H is transmitted by terminal 1600 to imaging device 1000 via the network. When the imaging device 1000 receives this coordinate information, it proceeds to S204. If the user does not specify coordinates, this flow waits until the coordinates are input.

In S204, it is determined whether the coordinates of the specified point H exist in any of the areas 5022 to 5025, which are the shooting ranges of the imaging units 2002 to 2005. Here, coordinate transformation processing similar to that in S102 is performed to calculate H1 (xh1, yh1) on the area 5001. Furthermore, it is determined whether this H1 exists within the regions 5022 to 5025. In the case of FIG. 17(a), it is determined that H1 exists in region 5022. If it exists in any of the areas 5022 to 5025, the process advances to S205, and if it does not exist in any area, the process advances to S203.

In S205, it is determined which imaging unit has the region in which the designated point H1 exists, and that information is retained. Here, since it is determined that the point H1 exists in the region 5022, the imaging unit 2002 is selected.

In S206, the video of the selected imaging unit is transmitted to the terminal. Here, the video from the imaging unit 2002 is transmitted. The above process is performed and the flow ends. The received captured video is displayed on the terminal 1600. FIG. 18 shows an example of the display. Here, a captured image 6002 of the imaging unit 2002 is displayed at a position adjacent to a captured image 6001 of the imaging unit 2001.

With the above configuration, it is possible to provide an imaging device that can accurately visually recognize the subject of interest even when the subject of interest exists in the periphery of the lens 1011. In this embodiment, only the angle change has been described, but it is also possible to deal with changes in the zoom magnification and the like by adding appropriate coordinate transformation processing.

Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes can be made within the scope of the invention.

1000 Imaging device 1001 Imaging unit 1002 Imaging unit 1003 Imaging unit 1004 Imaging unit 1005 Imaging unit 1006 Signal processing unit 1011 Lens 1012 Lens 1013 Lens 1014 Lens 1015 Lens 1600 Terminal 2000 Imaging device

Claims (8)

an omnidirectional camera; and a plurality of cameras arranged in a circle around the omnidirectional camera and having a focal length longer than the focal length of the omnidirectional camera,
The imaging device is characterized in that the plurality of cameras are arranged so as to capture a position corresponding to a peripheral part of the image acquired by the omnidirectional camera. The imaging device according to claim 1, wherein the plurality of cameras are arranged at equal intervals in the circle. The plurality of cameras are capable of capturing images of 360 degrees, which is a range corresponding to the peripheral part of the image acquired by the omnidirectional camera, by sharing the imaging range. Imaging device. 2. The apparatus according to claim 1, further comprising determining means for determining which camera takes an image of the designated position from among the plurality of cameras, based on positional information designated on the image acquired by the omnidirectional camera. The imaging device described. The imaging device according to claim 1, wherein the omnidirectional camera has a horizontal angle of view of 180° or more. The imaging device according to claim 1, wherein the plurality of cameras have a horizontal angle of view smaller than 180° and a constant focal length. The imaging device according to claim 1, wherein the plurality of cameras are capable of changing imaging directions. The imaging device according to claim 1, further comprising a rotation angle detection section for detecting a rotation angle of each of the imaging sections.

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