JP4265037B2 - 3D imaging device and stereo camera recording / playback system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a three-dimensional imaging device, particularly to obtain a three-dimensional image (stereoscopic image) by capturing a plurality of images having parallax with respect to the same subject, or to measure a distance (ranging) with a subject. The present invention relates to a three-dimensional imaging apparatus capable of recording and a stereo camera recording / reproducing system using the same.
[0002]
[Prior art]
In order to capture a three-dimensional image, it is necessary to capture a plurality of images viewed from a plurality of different locations separated from each other, that is, an image with parallax. For this reason, conventionally, two cameras are generally provided in one three-dimensional imaging apparatus, and two subject images captured from two different locations are captured by different cameras.
[0003]
[Problems to be solved by the invention]
By the way, the three-dimensional imaging apparatus that captures a three-dimensional image using two cameras has a problem that it becomes difficult to meet the demand for downsizing because the two cameras are used. was there.
[0004]
Further, in order to configure a three-dimensional imaging apparatus with a plurality of camera units, it is necessary to align the optical axes between two cameras, but there is also a problem that it is extremely difficult to align optical axes between different cameras.
[0005]
In addition, when a plurality of cameras are provided, it is necessary to synchronize the cameras from the outside when processing image signals, which naturally requires a circuit for synchronization, It becomes a factor of high price of the imaging device.
[0006]
The present invention has been made to solve such problems, and it is possible to obtain a plurality of images with sufficient parallax with a relatively simple configuration and a small size by using a single imaging means. One object of the present invention is to provide a three-dimensional image pickup device that can be exposed to the optical surface of the device and has a large weight with high performance and is not contaminated by dust or the like. It is an object of the present invention to provide a stereo camera recording / reproducing system having a relatively simple configuration using such a three-dimensional imaging device.
[0007]
[Means for Solving the Problems]
The three-dimensional imaging device of the present invention includes one imaging element and a plurality of imaging element side reflecting means provided so that the reflecting surface faces obliquely outside corresponding to a plurality of different parts of the imaging region of the imaging element. A plurality of subject-side reflecting means that are arranged so that the reflecting surfaces thereof face obliquely forward on the outside corresponding to the plurality of imaging element-side reflecting means, and mutually reflect light from the subject to the corresponding imaging element-side reflecting means And at least the subject side reflecting means of each light path reflected from the subject side reflecting means and further reflected by the imaging element side reflecting means to the different parts of the imaging region of the imaging element from the subject. If there are a plurality of or multiple sets of lenses provided on the element side and forming a plurality of subject images with parallax with respect to the same subject, and one lens in each optical path, the lens is A plurality of throttle provided on the object side of the at least one lens in the case of, counted along the optical path from the imaging element 1 Make a second reflection Image sensor side Of reflection means Only the subject side that is the front and opposite to the image sensor side And a light beam limiting means for preventing the peripheral luminous flux outside the light beam to be the subject image from entering the imaging region.
[0008]
Therefore, according to the three-dimensional imaging device of the present invention, a plurality of different imaging devices as a plurality of images captured from a plurality of different viewpoints separated from each other by a plurality of reflections and collections by the imaging optical system. Therefore, only one imaging element is required for the three-dimensional imaging apparatus. Since a plurality of captured images with a single image sensor and different parallax can be obtained, it is not necessary to say that synchronization between a plurality of cameras is required for capturing a three-dimensional image. There is no need to provide a special circuit. Also, if the optical axis is aligned for each optical system with respect to the same image sensor, the required optical axis alignment is completed, so that the optical axis alignment is easier than when optical axes are aligned between multiple cameras. . Moreover, the lens is not located on the surface side of the 3D image pickup device, but is always located on the image pickup device side with respect to the reflecting means closest to the subject side in the optical path, so that it can be prevented from being exposed. It is possible to eliminate the existing risk that a lens that greatly affects the lens is exposed on the surface and becomes dirty with dust or the like.
[0009]
Further, according to the three-dimensional imaging apparatus of the present invention, one subject is composed of a plurality of optical systems including subject-side reflecting means, imaging element-side reflecting means, lenses, a diaphragm, and different portions of the imaging area of one imaging element. Since imaging is performed with different parallaxes, only one imaging element is required for the three-dimensional imaging apparatus. Since a plurality of captured images with a single image sensor and different parallax can be obtained, it is not necessary to say that synchronization between a plurality of cameras is required for capturing a three-dimensional image. There is no need to provide a special circuit. In addition, if the optical axis is aligned for each optical system with respect to the same image sensor, the required optical axis alignment is completed.
The optical axis can be easily aligned as compared with the case where the adjustment is performed. Furthermore, counting from the image sensor along the optical path 1 A light beam that defines the imaging area of each subject image by preventing light that becomes one subject image from entering the area where the other image of the subject is imaged behind the reflecting means that reflects the second time. Since the limiting means is provided, it is possible to cut the incidence of the peripheral light beam from the outside of the subject by the light limiting plate while making the position of the light limiting plate closer to the central axis rather than the outside of the three-dimensional imaging device. Noise due to an effective peripheral light beam can be prevented without increasing the size of the apparatus.
[0010]
Since the plurality of subject side reflecting means for obtaining a plurality of mutually parallax images are provided outside the plurality of imaging element side reflecting means, between the subject side reflecting means for the size of the three-dimensional imaging device. The parallax can be made relatively large by increasing the distance. Therefore, a more stereoscopic three-dimensional image can be obtained with high accuracy.
[0011]
In addition, when the number of lenses in each optical path is one, the light beam focused by the diaphragm is imaged on each part of the imaging region of the image sensor by the imaging lens, and a plurality of lenses in each optical path are set. In this case, at least one of the lenses is positioned closer to the image sensor than the stop, and the light beam with the stop is passed through the lens, so there is no need to use a large lens. It can be enjoyed for lenses or at least some lenses. Therefore, it is possible to obtain a three-dimensional imaging apparatus that is small and inexpensive and has excellent optical characteristics. Since the lens is positioned not on the surface side of the three-dimensional device but on the image pickup element side with respect to the subject side reflecting means in the optical path and can be prevented from being exposed, the optical characteristics and performance are greatly affected. It is possible to eliminate the existing risk that the lens is exposed on the surface and becomes dirty with dust or the like.
[0012]
The stereo camera recording / reproducing system of the present invention has a three-dimensional imaging device that forms an image of a subject on each of a plurality of imaging areas of a single imaging device by a plurality of optical systems, and images formed on the plurality of imaging areas. A single timing generator and a single driver for driving the three-dimensional imaging device so as to output an image as a single image signal, and a single camera signal processing unit for processing the single image signal A single signal recording unit that records the image signal output from the camera signal processing unit on a single recording medium, and a single signal reproduction unit that reproduces the image signal recorded on the recording medium An image separation circuit that separates the image signal output from the signal reproduction unit into signals corresponding to the plurality of imaging regions, and the image separation circuit that corresponds to the plurality of imaging regions output from the image separation circuit. A stereo camera recording / playback system, wherein the three-dimensional imaging device reflects one imaging element and a plurality of different parts of the imaging area of the imaging element. A plurality of imaging element side reflecting means provided so that the surface faces obliquely outward, and a reflecting surface is arranged on the outer side corresponding to the plurality of imaging element side reflecting means so that the reflective surface faces obliquely forward. A plurality of subject-side reflecting means for reflecting light to the corresponding imaging element-side reflecting means, and reflected by the plurality of subject-side reflecting means and further reflected by the imaging element-side reflecting means from the subject to the imaging region of the imaging element. A plurality of subject images with parallax are formed on the same subject provided at least on the imaging element side of the subject side reflecting means in each optical path leading to a plurality of different portions. Or a plurality of sets of lenses, a plurality of apertures provided closer to the subject than at least one lens in the case of a single lens in each optical path, and an optical path from the image sensor. Count along 1 Make a second reflection Image sensor side Of reflection means Only on the subject side that is the front and opposite to the image sensor side And a light beam limiting means for preventing the peripheral luminous flux outside the light beam to be the subject image from being incident on the imaging region.
[0013]
Therefore, according to the stereo camera recording / playback system of the present invention, camera signal processing is performed by treating a plurality of subject image signals captured from different viewpoints with respect to one subject output from the three-dimensional imaging device as one image signal. Therefore, it is only necessary to provide one camera signal processing unit, one signal recording unit, one signal reproducing unit, and one recording medium, and subjects that are imaged in a plurality of imaging regions. There is no need to provide each image. Therefore, the configuration of the recording / reproducing system can be made relatively simple. The signal of the subject image treated as one image signal is separated and displayed for each subject image by the image separation circuit, so that a three-dimensional reproduction display of the subject, that is, reproduction display and distance measurement (with respect to the subject) Distance measurement).
[0014]
DETAILED DESCRIPTION OF THE INVENTION
The three-dimensional image pickup apparatus of the present invention basically has a single image pickup element, one or more reflections on the light from the subject, and the light collected from different viewpoints separated from each other. A plurality of imaging optical systems that form an image of a subject on different regions of the image sensor. The parallax (distance between viewpoints) is preferably about 1 cm or more, for example.
[0015]
The most typical embodiment of the three-dimensional imaging device of the present invention is provided so that the reflecting surface faces obliquely outward corresponding to one imaging element and a plurality of different parts of the imaging region of the imaging element. A plurality of imaging element side reflecting means and a reflecting surface on the outer side corresponding to the plurality of imaging element side reflecting means so as to face obliquely forward, and the light from the subject mutually reflects the corresponding imaging element side reflection. A plurality of subject-side reflecting means reflecting to the means, and each of the plurality of subject-side reflecting means reflected by the plurality of subject-side reflecting means and further reflected by the imaging element-side reflecting means to reach a plurality of different parts of the imaging region of the imaging element from the subject. A plurality of or a plurality of sets of lenses that form a plurality of subject images having parallax with respect to the same subject, provided at least on the image sensor side of the subject side reflecting means in the optical path, and lenses of the optical paths A plurality of stops provided on the subject side of at least one lens in the case of a set, and the imaging element is a CCD solid-state imaging element. Even if it exists, it may be a MOS type solid-state image sensor or an amplification type solid-state image sensor, and the type thereof is not limited.
[0016]
The 3D imaging device counts along the optical path from the image sensor. In front of the image sensor side reflecting means for the first reflection It is preferable to provide a light beam limiting means for preventing light that becomes one subject image from entering a region for capturing another subject image of the image sensor. This is because it is possible to effectively prevent the peripheral luminous flux from leaking into each imaging region where the subject image of the imaging element is formed.
[0017]
That is, to capture the same subject from viewpoints separated from each other, and to form multiple subject images in different areas of a small image sensor while ensuring the distance between the viewpoints, that is, the parallax, the light from the subject side Need to be reflected several times. On the other hand, in the three-dimensional imaging apparatus, there is a possibility that the peripheral light flux leaks into each imaging region where the subject image is formed, and it may be necessary to prevent the leakage. Therefore, it is preferable to provide a light beam limiting means to prevent the leakage. And counting from the image sensor to provide it 1 After the reflection means for performing the second reflection is good. This is because the light incident between each imaging region of the image sensor passes through the center rather than the outside of the 3D imaging device in front of the reflecting means, and defines the imaging region of the subject image. The light beam limiting means for preventing crosstalk between the plurality of imaging regions can be provided near the center of the three-dimensional imaging device. Therefore, without limiting the size of the three-dimensional imaging device, the light limiting means is provided, and crosstalk due to light incident between a plurality of imaging regions, that is, light to be incident on one imaging region is transferred to another imaging region. This is because the phenomenon of leakage can be effectively prevented.
[0018]
The imaging element side reflecting means and the subject side reflecting means may be constituted by, for example, a mirror or may have a function of reflecting light, such as a prism. The subject-side reflecting means and the image sensor-side reflecting means may irradiate the subject to two portions of the imaging region of the solid-state image sensor by reflecting light from the subject twice at an angle of 90 degrees. However, the light from the subject is guided to the solid-state image sensor by reflecting the two optical systems of the three-dimensional image pickup device twice at an angle larger than 90 degrees (for example, 120 degrees) in order to reduce the dimension in the depth direction. You may do it.
[0019]
Needless to say, the lens for image formation provided in each optical path may be a single lens, or may be two or more ball lenses. In particular, two or more ball lenses are used to obtain high optical characteristics, but a single lens may be used when it is not necessary to increase the optical characteristics. In any case, in the present invention, in each optical path, the lens is always positioned closer to the image sensor than the subject side reflecting means. This is because if a lens occupying the largest weight in terms of optical characteristics and performance is placed closer to the subject than the subject-side reflecting means, the lens may be exposed on the surface of the three-dimensional imaging device, and dust may be easily attached. Because there is.
[0020]
When the lens is a single-lens lens (in short, when the number of lenses in each optical path is one), the lens must be disposed closer to the image sensor than the stop. In short, in the case where the lenses of each optical path are composed of a set of a plurality of lenses), at least some of the lenses need to be arranged closer to the image sensor than the stop. This is because it is possible to enjoy the effect that all or at least a part of the lens can be made small by condensing the light beam focused by the stop with the lens to form an image. Because.
[0021]
The lens may be a spherical lens or an aspheric lens. And you may make it provide an infrared cut filter in any part of each optical path, such as between an imaging lens and an image pick-up element. Moreover, an optical low-pass filter may be provided in any part of each optical path to suppress false signals.
[0022]
Furthermore, a light blocking means for blocking between the optical paths may be provided at least between the solid-state imaging element and the imaging element side reflecting means. This is because the risk of optical crosstalk occurring between the optical systems for obtaining a plurality of images having parallax can be eliminated.
[0023]
The three-dimensional imaging apparatus includes signal processing means for performing signal processing by dividing an image signal from an image sensor into image signals of each subject image captured in each imaging region that captures subject images having different viewpoints. In this way, each subject image can be detected independently, and then distance measurement and three-dimensional image generation can be performed based on the principle of triangulation based on the plurality of independent subject images.
[0024]
Further, the above-described stereo camera recording / reproducing system using the three-dimensional imaging device, in addition to such a three-dimensional imaging device, uses a single imaging device constituting the device for each subject image in a plurality of imaging regions. A timing generator and a driver that drive as if one image signal was imaged despite being imaged, a camera signal processing unit that processes the image signal that is the output of the image sensor, and a camera signal processing unit A signal recording unit for storing an image signal in a recording medium, a signal reproducing unit for reproducing the image signal stored in the recording medium, and the image signal output from the signal reproducing unit as image signals of the plurality of subject images And a plurality of display devices for separately displaying image signals of a plurality of subject images from the image separation circuit. The image separation circuit, for example, divides each horizontal period into a plurality of parts, provides a plurality of extraction units that extract image signals only during the division period, and outputs the output of each extraction unit to a display unit corresponding to each extraction unit. It can be configured with a circuit to be displayed.
[0025]
[ reference Example]
Reference examples will be described below. FIG. 1 shows a three-dimensional imaging device of the present invention. Reference example FIG. In the drawings, reference numeral 1 denotes a solid-state imaging device, 1a denotes one half of an imaging region of the solid-state imaging device 1, and 1b denotes the other half of the imaging region. Reference numeral 2 denotes an infrared cut filter, which is arranged in front of the imaging region of the solid-state imaging device 1 in parallel. 3a and 3b are imaging lenses provided corresponding to the respective halves 1a and 1b of the solid-state imaging device 1 through the infrared cut filter 2, and 4a and 4b are arranged in front of the imaging lenses 3a and 3b. The arranged diaphragms 5a and 5b are image sensor side mirrors provided in front of the diaphragms 4a and 4b so as to face diagonally outside corresponding to the halves 1a and 1b of the imaging region of the solid-state image sensor 1. , 6a, 6b are subject-side mirrors provided on the outer sides of the imaging element-side mirrors 5a, 5b so as to face diagonally inward. 7 is an imaging optical system including an imaging element side mirror 5a, a diaphragm 4a, a lens 3a, and a half part 1a of the solid imaging element 1 between the imaging element side mirrors 5a and 5b and the solid state imaging element 1, and an imaging element side mirror 5b. A light blocking means provided between the diaphragm 4b, the lens 3b, and the imaging optical system by the half portion 1b of the solid-state imaging device 1 to block between them, and thereby an optical cross between the two imaging optical systems. Talk can be prevented.
[0026]
The pair of subject side mirrors 6a and 6b transmits light from the same subject to the pair of image sensor side mirrors 5a and 5b at different positions (the distance between the viewpoints, that is, the parallax is preferably about 1 cm to 15 cm, for example). reflect. The pair of imaging element side mirrors 5a and 5b reflects light from the subject reflected by the pair of subject side mirrors 6a and 6b toward the respective halves 1a and 1b of the imaging region of the solid-state imaging element 1. . Then, a pair of light from the subject reflected by the pair of image sensor side mirrors 5a and 5b is stopped by the stops 4a and 4b, and different half portions of the image pickup region of the solid-state image sensor 1 by the imaging lenses 3a and 3b. Images are formed on 1a and 1b. At that time, infrared rays are cut by passing through the infrared cut filter 2.
[0027]
FIGS. 2A and 2B are explanatory diagrams of the imaging principle of a three-dimensional image. FIG. 2A shows the same subject from two viewpoints where the subject-side mirrors 6a and 6b exist and each viewpoint. It schematically shows that the subject is imaged on different halves 1a and 1b of the imaging region of the solid-state imaging device 1 by the imaging device side mirrors 5a and 5b, the diaphragms 4a and 4b, and the lenses 3a and 3b. (B) schematically shows two captured images obtained by capturing the same subject from different viewpoints. When the left and right captured images shown in FIG. 2B are viewed, it can be seen that the position of the small cylinder in front of the innermost cylinder and the position of the pencil in front of it are shifted. This is due to the fact that captured images of the same subject have parallax. Therefore, it is possible to grasp the stereoscopic image of the subject from the two images having parallax with respect to the same subject.
[0028]
That is, the data representing the two captured images described above is appropriately processed, and the images are combined to recognize the subject three-dimensionally, and the image is reproduced in the form of a three-dimensional image based on the recognition result. be able to. Of course, the distance from the three-dimensional imaging device to the subject can also be measured. These are possible because the coordinates of each part of the subject can be obtained by the so-called triangulation principle.
[0029]
FIGS. 3A and 3B show one configuration example of a three-dimensional imaging apparatus and a circuit for processing the output thereof, FIG. 3A is a schematic configuration diagram, and FIG. 3B is a block diagram thereof. Two captured images captured from different viewpoints of the same subject are obtained from the solid-state imaging device 1, and a video signal indicating the images is processed by the information processing device 8, converted into desired three-dimensional image data, and output to the outside. Is done. This output data is input to a display device capable of stereoscopic display (not shown) and is reproduced as a three-dimensional image by the display device.
[0030]
It should be noted that the three-dimensional information is directly signal-processed without separation of the left and right images and is output as indicating the position information of the subject, and is used as image recognition data and data indicating the distance from the subject. Also good.
[0031]
reference According to the three-dimensional imaging device of the example, one subject is a subject-side mirror 6a, 6b, imaging element-side mirror 5a, 5b, lenses 3a, 3b, diaphragms 4a, 4b, and an imaging region of one solid-state imaging element 1. Since a pair of imaging optical systems composed of different portions 1a and 1b are used for imaging with different parallaxes, only one solid-state imaging device 1 is required for the three-dimensional imaging device. And since two picked-up images with different parallax can be obtained with one solid-state image pickup device 1, it is not necessary to say that synchronization between the two cameras is required, and therefore no special circuit for synchronization is required.
[0032]
In addition, if the optical axis is aligned for each optical system for the same image sensor, the required optical axis alignment is completed, so that the optical axis alignment is performed compared to the conventional case where the optical axis is aligned between two cameras. Becomes easier.
[0033]
Since the subject-side mirrors 6a and 6b serving as a pair of spaced viewpoints for obtaining two images with parallax are provided outside the pair of imaging element-side mirrors 5a and 5b, the size of the three-dimensional imaging device However, the distance between the subject side mirrors 6a and 6b can be increased, and the parallax can be relatively increased. Therefore, a more stereoscopic three-dimensional image can be obtained with relatively high accuracy.
[0034]
The above reference In the example, the object 6 mirrors 6a and 6b and the image sensor side mirrors 5a and 5b reflect the light from the object twice at an angle of 90 degrees so that the object is separated into two parts 1a of the image area of the solid-state image sensor 1. In order to reduce the dimension in the depth direction of the two optical systems of the three-dimensional imaging device, the light is reflected twice at an angle larger than 90 degrees (for example, 120 degrees). The light from the subject may be guided to the solid-state image sensor.
[0035]
【Example】
FIG. 4 shows the three-dimensional imaging device of the present invention. The fruit It is a schematic block diagram of an Example. This embodiment is shown in FIG. reference Since there are parts common to the examples, the common parts have already been described, so detailed description thereof will be omitted, and only the other parts will be described in detail, and also common to FIG. 1 of FIG. Common parts are assigned to the parts to be performed.
[0036]
In the drawing, reference numerals 15a and 15b form imaging element side reflecting means provided in front of the diaphragms 4a and 4b so as to face diagonally outward corresponding to the respective half portions 1a and 1b of the imaging area of the solid-state imaging element 1. Reflective prism, shown in FIG. reference It plays the same role as the imaging element side mirrors 5a and 5b in the example.
[0037]
Reference numerals 16a and 16b denote infrared cut filters, which are arranged on the front side (light incident side) of the reflecting prisms 15a and 15b constituting the imaging element side reflecting means in this embodiment. Reference numeral 17 denotes a cover glass for a solid-state image sensor provided on the front side of the solid-state image sensor 1.
[0038]
Reference numerals 18a and 18b denote light limiting plates that play a role in preventing light other than light that should enter the separate imaging regions 1a and 1b of the solid-state imaging device 1 from leaking and entering. That is, when light from other than the corresponding imaging optical system leaks and enters each of the imaging regions 1a and 1b, the light becomes a noise component and causes deterioration in image quality. Therefore, it is the light limiting plates 18a and 18b that prevent leakage of the peripheral luminous flux.
[0039]
FIG. 5 is an explanatory view of the principle of limiting incident light by the light beam limiting plate 18. Although the light from the subject passes through the imaging optical system and forms an image on each imaging region of the imaging device 1, the light rays around the light rays that contribute to the imaging may become noise components in the adjacent imaging region (adjacent imaging area). However, in FIG. 5, the light from the outermost part of the subject frame is A, B, and C, and the angle at which A enters the image sensor 1 is large. Therefore, the light outside the light beam A needs to be cut. For that purpose, the light limiting plate 18 is counted from the image sensor 1. 1 What is necessary is just to arrange | position in the position which cuts the light inside the light ray A in the front side rather than the reflective prism 15 in the reflection means of the 2nd time. This is because, at this position, the light beam limiting plate 18 can be disposed at a position away from the central axis of the three-dimensional imaging device, thereby effectively preventing leakage of peripheral light flux. That is, the light ray A comes outside of the light rays B and C, so that all the light bundles formed by the light rays A, B and C can be contributed to the image formation without blocking the light rays B and C. Because.
[0040]
Incidentally, if the light limiting plate 18 is positioned in front of the even number (2n) reflection means counted from the image sensor 1, the light limiting plate 18 must be provided outside the three-dimensional imaging device. The light beam cannot be cut, and the size reduction of the three-dimensional imaging apparatus is hindered, and the light shielding property is not effective and is not preferable.
[0041]
6 (A) to 6 (D) show still other respective three-dimensional imaging devices of the present invention. reference Each of which is an example reference Although the example has a difference from the embodiment shown in FIGS. 1 and 4, it is common in many points, and since the common point has already been described, a detailed description is omitted and only the difference is described in detail. To do.
[0042]
Four types shown in FIGS. reference The example is shown in FIG. 1 in that both use a prism instead of a mirror as the reflecting means. reference It is different from the example. Reference numerals 10a and 10b denote prisms constituting subject side reflecting means, and reference numerals 11a and 11b denote prisms constituting imaging element side reflecting means. When the prism is used as the reflecting means, the reflecting surface is naturally set to the subject and the imaging surface of the imaging device 1 by aligning the incident surface or the emitting surface in parallel or perpendicular to the surface or vertical surface of the imaging device 1. The positioning can be performed at an angle of 45 degrees, and there is an advantage that the positioning is easy.
[0043]
6 (A) and 6 (B) both have one lens arranged in each optical path, and the lenses 4a and 4b are immediately behind the diaphragms 3a and 3b (that is, immediately on the image sensor 1 side). Is arranged. The diaphragms 3a and 3b and the lenses 4a and 4b are shown in FIG. reference In the case of the example, it is shown in FIG. 6B between the prisms 10a and 10b forming the subject side reflecting means and the prisms 11a and 11b forming the imaging element side reflecting means. reference In the case of the example, it is provided between the image pickup device 1 and the prisms 11 a and 11 b constituting the image pickup device side reflecting means.
[0044]
6C and 6D are provided with a plurality of lenses 4a, 4b, 14a and 14b for each optical path, and the one shown in FIG. 6C is the diaphragms 3a and 3b. And the lenses 14a and 14b immediately behind it are arranged between the prisms 10a and 10b constituting the subject side reflecting means and the prisms 11a and 11b constituting the imaging element side reflecting means, and the other lenses 4a and 4b are arranged. They are arranged between the image pickup device 1 and the prisms 11 a and 11 b constituting the image pickup device side reflecting means. In this case, since the two lenses 14a, 14b, 4a, and 4b in each optical path are located closer to the image sensor 1 on the optical path than the stops 3a and 3b, the light beams narrowed by the stops 3a and 3b are collected. Since the image is formed by light, a small one can be used.
[0045]
FIG. 6D shows a reverse of the positional relationship between the diaphragms 3a and 3b and the lenses 14a and 14b in the three-dimensional imaging apparatus of FIG. 6C. The lenses 14a and 14b have the diaphragm 3a, Although the light is condensed at the stage where the diaphragm 3b is not applied, the lenses 4a and 4b are condensed with respect to the light flux with the diaphragm, so that an advantage that a small lens can be used is enjoyed. be able to.
[0046]
In addition, each shown in FIG. 6 (A) thru | or (D) reference Although an infrared cut filter is not provided in the example, it goes without saying that it may be provided. 4 instead of the light blocking plate 7 shown in FIG. Fruit Needless to say, the light beam limiting plate 18 of the embodiment may be provided, or both of them may be provided. Also mentioned above reference In the example, the optical low-pass filter is not provided except for the embodiment shown in FIG. 4, but it goes without saying that it may be provided. When provided, it may be provided in any part of the optical path in each optical system. Thus, the three-dimensional imaging device of the present invention Is It can be implemented in various ways.
[0047]
【Example】
FIG. 7 is a block diagram showing a configuration of an example of a stereo camera recording / reproducing system using the above-described three-dimensional imaging apparatus of the present invention (first embodiment of the stereo camera recording / reproducing system of the present invention). In FIG. 7, reference numeral 21 denotes a stereo optical system as shown in FIG. 4 (a stereo optical system of another form may be used), 1 denotes an image sensor on which a subject image is formed by the stereo optical system 21, 1a and 1b Is an imaging region in which different subject images obtained by capturing one subject of the image sensor 1 from different viewpoints are formed, 22 is a timing generator for driving the image sensor 1 to output one image signal, and 23 is It is a driver that receives the output of the timing generator 22 and drives the image sensor 1.
[0048]
Reference numeral 24 denotes a camera signal processing unit that processes an image signal from the image sensor 1 as an image signal indicating one subject, and 25 denotes a CDS circuit (correlated double sampling circuit) that removes noise components from the image signal. Reference numeral 26 denotes an AGC circuit (auto gain control circuit), and 27 denotes a processing circuit that converts the output of the AGC circuit 26 into a digital signal and performs necessary processing. The A / D conversion circuit 28 is converted into a digital signal thereby. And a microcomputer 29 for processing the received signals. 30 is an image signal output circuit for amplifying the signal from the processing circuit 27 and outputting an image signal, 31 is an image signal recording circuit (video recorder) for recording the image signal output from the image signal output circuit 30, Reference numeral 32 denotes a recording medium on which an image signal is recorded by the image signal recording circuit 31, and is composed of, for example, a video tape or a digital video disk. A video player 33 reproduces the image signal stored in the recording medium 32.
[0049]
An image separation circuit 34 receives an image signal from the video player 33 and separates the image signals corresponding to the two imaging regions 1a and 1b of the imaging device 1 from each other, and supplies them to the two display devices 35a and 35b. Sort and output. The display device 35a displays an image signal of the subject image formed on the imaging region 1a, and 35b displays an image signal of the subject image formed on the imaging region 1b. Therefore, different subject images obtained by capturing one subject from different viewpoints are displayed on the two display devices 35a and 35b, and stereoscopic display is possible, and measurement of the distance between the subject and the stereo camera recording / playback system (ranging) Is also possible.
[0050]
In this stereo camera recording / reproducing system, different image of the subject captured from different viewpoints with respect to the same subject is formed in the respective imaging regions 1 a and 1 b by the imaging device 1. The processed image signal is processed like a single subject image signal, and thereafter, until the image separation circuit 34, all the image signals are processed as a single image signal indicating one subject image. Then, the image signal that has been treated as a single image signal for the first time by the image separation circuit 34 is separated into two image signals indicating two subject images, distributed to the display devices 35a and 35b, and displayed separately.
[0051]
Note that the image separation circuit 34 includes, for example, an extraction unit that extracts only the first half of each horizontal period of the image signal and an extraction unit that extracts only the second half of the image signal, and outputs the output of each extraction unit to different display devices 35a and 35b. This can be configured. In this case, the imaging element 1 is divided into two in the horizontal direction, and two imaging areas 1a and 1b are set.
[0052]
In addition, the image pickup device 1 is divided into two in the vertical direction to set two image pickup areas 1a and 1b, and the image separation circuit 34 extracts the first half in each vertical cycle and the same second extraction part for extracting only the second half. And the output of each extraction unit can be sent to different display devices 35a and 35b.
[0053]
According to this stereo camera recording / playback system, the timing generator 22, the driver 23, the CDS circuit 25, the AGC circuit 26, the A / D conversion circuit 28, the microcomputer 29, the image signal output circuit 30, the video recorder 31, the recording medium 32, and One video player 33 may be provided, and it is not necessary to provide a plurality of video players. Therefore, the stereo camera recording / reproducing system can be configured simply.
[0054]
【The invention's effect】
According to the three-dimensional imaging device of the present invention, a plurality of different imaging devices as a plurality of images obtained by capturing the same subject from a plurality of different viewpoints separated from each other by one or a plurality of reflections and condensings by the imaging optical system. Therefore, only one imaging element is required for the three-dimensional imaging apparatus. Since a plurality of captured images with a single image sensor and different parallax can be obtained, it is not necessary to say that synchronization between a plurality of cameras is required for capturing a three-dimensional image. There is no need to provide a special circuit. Also, if the optical axis is aligned for each optical system with respect to the same image sensor, the required optical axis alignment is completed, so that the optical axis alignment is easier than when optical axes are aligned between multiple cameras. . Moreover, the lens is not located on the surface side of the 3D image pickup device, but is always located on the image pickup device side with respect to the reflecting means closest to the subject side in the optical path, so that it can be prevented from being exposed. It is possible to eliminate the existing risk that a lens that greatly affects the lens is exposed on the surface and becomes dirty with dust or the like.
[0055]
Since the plurality of subject side reflecting means for obtaining a plurality of mutually parallax images are provided outside the plurality of imaging element side reflecting means, between the subject side reflecting means for the size of the three-dimensional imaging device. The parallax can be made relatively large by increasing the distance. Therefore, a more stereoscopic three-dimensional image can be obtained with high accuracy.
[0056]
In addition, when the number of lenses in each optical path is one, the light beam focused by the diaphragm is imaged on each part of the imaging region of the image sensor by the imaging lens, and a plurality of lenses in each optical path are set. In this case, at least one of the lenses is positioned closer to the image sensor than the stop, and the focused light flux is passed through the lens. In addition, it is possible to obtain a three-dimensional imaging device that is small and inexpensive and has excellent optical characteristics. Since the lens is positioned not on the surface side of the three-dimensional device but on the image pickup element side with respect to the subject side reflecting means in the optical path and can be prevented from being exposed, the optical characteristics and performance are greatly affected. It is possible to eliminate the risk that the lens is exposed on the surface and becomes dirty with dust or the like.
[0057]
According to the three-dimensional imaging apparatus of the present invention, one subject is different from each other by a plurality of optical systems composed of subject-side reflecting means, imaging element-side reflecting means, lens, diaphragm, and different portions of the imaging area of one imaging element. Since imaging is performed with parallax, only one imaging element is required for the three-dimensional imaging apparatus. Since a plurality of captured images with a single image sensor and different parallax can be obtained, it is not necessary to say that synchronization between a plurality of cameras is required for capturing a three-dimensional image. There is no need to provide a special circuit. Also, if the optical axis is aligned for each optical system with respect to the same image sensor, the required optical axis alignment is completed, so that the optical axis alignment is easier than when optical axes are aligned between multiple cameras. .
[0058]
Since the plurality of subject side reflecting means for obtaining a plurality of mutually parallax images are provided outside the plurality of imaging element side reflecting means, between the subject side reflecting means for the size of the three-dimensional imaging device. The parallax can be made relatively large by increasing the distance. Therefore, a more stereoscopic three-dimensional image can be obtained with high accuracy.
[0059]
In addition, when the number of lenses in each optical path is one, the light beam focused by the diaphragm is imaged on each part of the imaging region of the image sensor by the imaging lens, and a plurality of lenses in each optical path are set. In this case, at least one of the lenses is positioned closer to the image sensor than the stop, and the light beam with the stop is passed through the lens, so there is no need to use a large lens. It can be enjoyed for lenses or at least some lenses. Therefore, it is possible to obtain a three-dimensional imaging apparatus that is small and inexpensive and has excellent optical characteristics. Since the lens is positioned not on the surface side of the three-dimensional device but on the image pickup element side with respect to the subject side reflecting means in the optical path and can be prevented from being exposed, the optical characteristics and performance are greatly affected. It is possible to eliminate the existing risk that the lens is exposed on the surface and becomes dirty with dust or the like.
[0060]
According to the three-dimensional imaging apparatus of the present invention, since the light blocking means for blocking between the respective optical paths for forming the respective subject images is provided at least between the solid-state imaging element and the imaging element side reflecting means, a plurality of parallaxes are provided. It is possible to eliminate the possibility of optical crosstalk occurring between optical systems for obtaining a certain image.
[0061]
According to the three-dimensional imaging device of the present invention, counting from the imaging element along the optical path. 1 Make a second reflection Only in front of the image sensor side reflecting means and on the object side opposite to the image sensor side The light limiting plate is provided with light limiting means for preventing the light that becomes one subject image from entering the area where the other image of the subject is imaged and defining the imaging area of each subject image. The position of the center of the 3D imaging device is not on the outside of the 3D imager, but on the side of the central axis. It is possible to prevent noise caused by peripheral light flux.
[0062]
According to the three-dimensional imaging apparatus of the present invention, each subject image can be detected independently to obtain data, and by the principle of triangulation based on the data of the plurality of independent subject images. Distance measurement and 3D image generation are possible.
[0063]
According to the three-dimensional imaging apparatus of the present invention, since the parallax is 1 cm or more, for example, about 1 to 15 cm, a small and relatively accurate distance measurement and generation of a three-dimensional image (stereoscopic image) can be performed.
[0064]
According to the stereo camera recording / playback system of the present invention, a plurality of subject image signals captured from different viewpoints with respect to one subject outputted from the three-dimensional imaging device are treated as one image signal, camera signal processing, Since recording and signal reproduction can be performed, it is only necessary to provide one camera signal processing unit, one signal recording unit, one signal reproduction unit, and one recording medium, and the number of subject images imaged in a plurality of imaging regions. There is no need to provide them one by one. Therefore, the configuration of the recording / reproducing system can be made relatively simple. The signal of the subject image treated as one image signal is separated and displayed for each subject image by the image separation circuit, so that a three-dimensional reproduction display of the subject, that is, reproduction display and distance measurement (with respect to the subject) Distance measurement).
[Brief description of the drawings]
FIG. 1 shows a three-dimensional imaging apparatus according to the present invention. reference It is a schematic block diagram which shows an example.
FIGS. 2A and 2B are explanatory diagrams of the principle of capturing a three-dimensional image, and FIG. 2A shows the same subject captured at two viewpoints where the subject-side reflecting means exists and captured at each viewpoint. FIG. 2B schematically shows that a subject is imaged on different portions of the imaging area of the solid-state imaging device by the imaging device side reflecting means, a diaphragm, and a lens, and FIG. 5B shows two captured images obtained by capturing the same subject from different viewpoints. Is shown schematically.
FIGS. 3A and 3B show one configuration example of a three-dimensional imaging apparatus and a circuit for processing the output, FIG. 3A is a schematic configuration diagram, and FIG. 3B is a block diagram thereof. .
FIG. 4 is a three-dimensional imaging apparatus of the present invention. The fruit It is a schematic block diagram which shows an Example.
FIG. 5 is shown in FIG. Fruit Explanation of the principle of light flux cutting around the beam limiting plate in the example In the figure is there.
FIGS. 6A to 6D are still other views of the three-dimensional imaging apparatus of the present invention. reference It is a schematic block diagram which shows an example.
FIG. 7 is a block diagram showing a configuration of an example of a stereo camera recording / playback system using the three-dimensional imaging device of the present invention (a first embodiment of the stereo camera recording / playback system of the present invention).
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Imaging device, 1a, 1b ... Different part of imaging region of imaging device, 3a, 3b ... Imaging lens, 4a, 4b ... Aperture, 5a, 5b ... Imaging device side reflection Means (mirror), 6a, 6b ... Subject side reflecting means (mirror), 7 ... Light blocking means, 10a, 10b ... Subject side reflecting means (prism), 11a, 11b ... Image sensor side Reflecting means (prism), 15a, 15b ... Imaging element side reflecting means (prism), 18 ... Ray limiting means, 21 ... Stereo optical system, 22 ... Timing generator, 23 ... Driver, 24... Camera signal processing unit, 31... Signal recording unit, 32... Recording medium, 33... Signal reproduction unit, 34.

Claims (5)

One image sensor,
A plurality of imaging element side reflecting means provided so that the reflecting surface faces obliquely outside corresponding to a plurality of different parts of the imaging region of the imaging element;
Corresponding to the plurality of imaging element side reflecting means, a plurality of subject side reflecting means are arranged so that a reflecting surface is obliquely directed outward and reflects light from the subject to the corresponding imaging element side reflecting means. When,
More than at least the subject side reflecting means of the respective light paths reflected from the plurality of subject side reflecting means and further reflected by the imaging element side reflecting means and extending from the subject to a plurality of different portions of the imaging region of the imaging element. A plurality of or a plurality of sets of lenses that form a plurality of subject images with parallax with respect to the same subject provided on the side;
In the case of a single lens in each optical path, a plurality of stops provided on the subject side of at least one lens in the case of a set; and
A ray of a subject image disposed in front of the image sensor side reflecting means that reflects the first time from the image sensor along the optical path and that is disposed only on the object side opposite to the image sensor side . A light beam limiting means for preventing the outer peripheral luminous flux from entering the imaging region;
A three-dimensional imaging device comprising: The three-dimensional imaging apparatus according to claim 1, further comprising: a light blocking unit that blocks between each optical path for forming each subject image between at least the solid-state imaging device and the imaging device side reflecting unit. The image processing apparatus according to claim 1, further comprising: a signal processing unit that divides the image signal from the image sensor into image signals of each subject image captured in each imaging region that captures subject images having different viewpoints, and performs signal processing. Or the three-dimensional imaging device of 2. The parallax (distance between viewpoints) is 1 cm or more. The three-dimensional imaging apparatus according to claim 1, 2, or 3. A three-dimensional imaging device comprising a single imaging device having a plurality of imaging regions and a plurality of optical systems for forming images of subjects in the plurality of imaging regions,
A single timing generator and a single driver for driving the three-dimensional imaging device so as to output images formed in the plurality of imaging regions as a single image signal;
A camera signal processing unit for processing the single image signal with a camera signal;
A single signal recording unit for recording the image signal output from the camera signal processing unit on a single recording medium;
A single signal reproducing unit for reproducing the image signal recorded on the recording medium;
An image separation circuit that separates the image signal output from the signal reproduction unit into signals corresponding to the plurality of imaging regions;
A stereo camera recording / reproducing system comprising: a display device that individually displays signals corresponding to the plurality of imaging regions output from the image separation circuit;
The three-dimensional imaging device includes one imaging element,
A plurality of imaging element side reflecting means provided so that the reflecting surface faces obliquely outside corresponding to a plurality of different parts of the imaging region of the imaging element;
Corresponding to the plurality of imaging element side reflecting means, a plurality of subject side reflecting means are arranged so that a reflecting surface is obliquely directed outward and reflects light from the subject to the corresponding imaging element side reflecting means. When,
More than at least the subject side reflecting means of the respective light paths reflected from the plurality of subject side reflecting means and further reflected by the imaging element side reflecting means and extending from the subject to a plurality of different portions of the imaging region of the imaging element. A plurality of or a plurality of sets of lenses that form a plurality of subject images with parallax with respect to the same subject provided on the side;
In the case of a single lens in each optical path, a plurality of stops provided on the subject side of at least one lens in the case of a set; and
A ray of a subject image disposed in front of the image sensor side reflecting means that reflects the first time from the image sensor along the optical path and that is disposed only on the object side opposite to the image sensor side . A light beam limiting means for preventing the outer peripheral luminous flux from entering the imaging region;
A stereo camera recording / playback system comprising:

Images