JP4326104B2 - Image input device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an image input apparatus that captures an image reflected by a reflecting surface.
[0002]
[Prior art]
A general monocular camera is configured to capture an image having an angle of view in one direction. On the other hand, as in Japanese Patent No. 2939087 and Japanese Patent Application Laid-Open No. 11-174603, an image input device that captures a wide angle of view around the camera at a time by capturing an image reflected by a reflecting surface. Are known.
[0003]
In this image input device that captures a wide angle of view at one time, a single reflecting surface having a curved surface is arranged on the optical axis of the camera, and a reflected image by the reflecting surface is captured, so that one camera can It is configured to capture an image of 360 degrees around the optical axis, and is called a so-called omnidirectional image capturing device.
[0004]
This omnidirectional image pickup device can obtain an image without a blind spot despite the fact that the configuration of the device can be simply configured by a very simple configuration of one reflection curved surface for one camera, and thus a space recognition device. It is applied to robot guidance.
[0005]
In many cases, the shape of the reflection surface has a shape that is axially symmetric about the optical axis of the camera, such as a cone, a sphere, or a hyperboloid. When these reflecting surfaces are used, a circular image is captured by the camera, and the circular radial direction is an omnidirectional image indicating the direction of the optical axis of the camera and the circumferential direction is a direction around the optical axis of the camera.
[0006]
Therefore, if the obtained circular image data is geometrically transformed, an image of the entire circumference around the optical axis of the camera, that is, a so-called panoramic image can be reconstructed. In particular, in the case of a hyperboloid, it is known that an image obtained by observing all directions from one point of the position of the internal focal point of the hyperboloid can be reproduced, so that a panoramic image without a sense of incongruity without movement of the viewpoint can be obtained. Yes. It is also known that the range that can be imaged in the optical axis direction of the camera, that is, the angle of view, varies depending on the shape of the reflecting surface.
[0007]
[Problems to be solved by the invention]
However, an image input apparatus having a reflecting surface such as the above omnidirectional image pickup apparatus has the following problems.
[0008]
Since the conventional apparatus is configured with a reflecting surface having one curvature, for example, in the case of a configuration using a hyperboloid reflecting surface having one curvature, the shape of the hyperboloid is different. Since the angle is fixed, the angle of view cannot be changed as in a normal variable magnification camera, that is, a so-called zoom camera.
[0009]
In addition, when an omnidirectional image is captured by one camera, an image of 360 degrees all around is formed on one imaging element, so that in principle, the image has a lower spatial resolution than a normal field of view camera. End up. Therefore, it is desired to capture an image with a normal field of view with the same camera, but the conventional apparatus cannot satisfy the request.
[0010]
An object of the present invention is to provide an image input device that can easily capture images of different angles of view such as an omnidirectional image and an image by normal planar reflection in an image input device having a reflective surface.
[0011]
[Means for Solving the Problems]
The image input device according to claim 1 of the present invention is an image pickup device, an imaging optical system, a plurality of reflecting surfaces having different shapes, and a selecting unit that selects an arbitrary reflecting surface from the plurality of reflecting surfaces. And an arbitrary reflection surface selected by the selection means and the imaging optical system cooperate to form an image around the optical axis of the imaging optical system on the image pickup device. To do.
[0012]
The image input device according to a second aspect of the present invention is the image input device according to the first aspect, wherein the detection unit detects the reflection surface selected by the selection unit, and is output from the image pickup device according to the output of the detection unit. Conversion processing means for performing geometric conversion processing on the image is provided.
[0013]
According to a third aspect of the present invention, there is provided the image input device according to the first aspect, wherein the first reflecting surface selected from the plurality of reflecting surfaces by the selecting means is on the optical axis of the imaging optical system and the image capturing is performed. The second reflecting surface, which is disposed at a position opposite to the imaging surface of the element and has a shape different from that of the first reflecting surface, is positioned on the optical axis of the imaging optical system and on the back surface of the first reflecting surface. And holding means for arranging and holding and reversing means for reversing the position of the first reflecting surface and the position of the second reflecting surface.
[0014]
The image input device according to a fourth aspect of the present invention is the image input device according to the third aspect, wherein the inverting means is a rotation mechanism that rotates the holding means about an axis perpendicular to the optical axis of the imaging optical system. And
[0015]
The image input device according to claim 5 of the present invention is the image input device according to claim 1, wherein the first reflecting surface of the plurality of reflecting surfaces captures an image in all directions around the optical axis of the imaging optical system. It is characterized by an axially rotationally symmetric surface that forms an image substantially concentrically on the element.
[0016]
The image input device according to a sixth aspect of the present invention is the image input device according to the fifth aspect, wherein the second reflective surface of the plurality of reflective surfaces has a curvature different from that of the first reflective surface, It is an axially rotationally symmetric surface that forms an image in all directions at different angles of view from the first reflecting surface in the optical axis direction on the image pickup device in a substantially concentric manner.
[0017]
The image input device according to a seventh aspect of the present invention is the image input device according to the sixth aspect, wherein the first reflective surface is a first hyperboloid, and the second reflective surface has a curvature different from that of the first hyperboloid. A second hyperboloid, and when the first reflecting surface is selected by the selecting means, the position of the internal focal point of the first hyperboloid and the second hyperboloid when the second reflecting surface is selected. It is characterized in that the positions of the internal focal points of the two hyperboloids substantially coincide.
[0018]
The image input device according to an eighth aspect of the present invention is the image input device according to the seventh aspect, wherein the first image formed by the first hyperboloid when the first reflective surface is selected and the second reflective surface. Storage means for storing the second image formed by the second hyperboloid when selected, and the first image and the second image stored in the storage means are geometrically transformed, Geometric conversion means for converting into an image from one viewpoint and synthesis processing means for synthesizing the first image and the second image converted by the conversion processing means are provided.
[0019]
The image input device according to a ninth aspect of the present invention is the image input device according to the fifth aspect, wherein the second reflective surface of the plurality of reflective surfaces is an image from a single direction around the optical axis of the imaging optical system. It is a reflecting surface that forms an image on the image pickup device.
[0020]
An image input device according to a tenth aspect of the present invention is the image input device according to the ninth aspect, wherein the second reflective surface of the plurality of reflective surfaces is driven, and an image from an arbitrary direction around the optical axis of the imaging optical system is obtained. Direction selection means for forming an image on the image pickup device is provided.
[0021]
An image input device according to an eleventh aspect of the present invention is the image input device according to the tenth aspect, wherein the first optical surface of the plurality of reflective surfaces is used to form an image about the optical axis of the imaging optical system formed on the image pickup device. Display means for displaying an image in all directions, instruction means for designating an arbitrary area of the display image displayed on the display means, and the direction selection means matches the area of the display image designated by the instruction means And a control means for controlling the second reflection surface to form an image on the image pickup device with the second reflecting surface.
[0022]
According to a twelfth aspect of the present invention, there is provided the image input device according to the eleventh aspect, wherein the storage means stores the first image formed on the image pickup device using the first reflecting surface, and the storage means. A converted image obtained by geometrically converting the first image stored in the image is generated, and a second image formed on the image pickup device by the second reflecting surface controlled by the control unit is superimposed on the converted image. An image processing means is provided.
[0023]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, each embodiment of the present invention will be described with reference to FIGS.
(Embodiment 1)
1 to 8 show (Embodiment 1).
[0024]
1 and 2 show an image input apparatus according to (Embodiment 1), which is composed of a camera unit and a processing unit that processes output data of the camera unit.
Reference numeral 1 denotes a camera unit. About the camera part 1, the cross-sectional shape is shown. The camera unit 1 includes the following parts.
[0025]
Reference numeral 2 denotes an image pickup device such as a CCD or a CMOS. An imaging lens 3 forms an image in the direction of the optical axis 4 of the imaging lens 3 and forms an image on the image pickup device 2. Reference numeral 5a denotes a first reflecting mirror which has a rotationally symmetric shape around the optical axis 4 and has a hyperboloid shape. Reference numeral 5b denotes a second reflecting mirror, which has a rotationally symmetric shape about the optical axis 4, and has a hyperboloid shape different from that of the first reflecting mirror. A holding member 6 holds the first reflecting mirror 5a and the second reflecting mirror 5b. Reference numeral 7 denotes a rotating device as a reversing unit, which is connected to the holding member 6 to rotate the holding member 6 and reverses the positions of the first reflecting mirror 5a and the second reflecting mirror 5b (upside down in FIG. 1). This rotating device 7 has a function of recognizing its rotational position.
[0026]
Reference numeral 9 denotes a camera pedestal, which fixedly holds the image pickup element 2, the imaging lens 3, and the transparent holding member 10. The transparent holding material 10 has a transparent elliptical cylinder or columnar structure such as glass, and includes a first reflecting mirror 5a and a second reflecting mirror 5b, a holding member 6, a rotating device 7, and a protective member 8. The reflecting mirror 5a or the reflecting mirror is positioned on the camera base 9 with a certain distance from the imaging lens 3 and is made of a transparent material such as glass so that the image in the space around the optical axis 4 is not obstructed. It can be reflected by 5b.
[0027]
The portion for processing the signal of the camera unit 1 is configured as follows.
An image storage device 11 captures and stores an image formed on the image pickup device 2. A geometric transformation device 12 geometrically transforms an image stored in the image storage device 11 to generate a panoramic image as observed from a single viewpoint. Reference numeral 13 denotes a synthesizing processing device, which generates an image obtained by synthesizing the respective images that are captured by the first reflecting mirror 5a and the second reflecting mirror 5b, stored in the image storage device 11, and further converted by the geometric transformation device 12. To do. A display device 14 displays an image output from the composition processing device 13. Reference numeral 15 denotes a control device that controls the operations of the image pickup device 2, the rotation device 7, the image storage device 11, the geometric transformation device 12, and the composition processing device 13 in accordance with the contents described in the program held therein.
[0028]
Here, the positional relationship between the first reflecting mirror 5a and the second reflecting mirror 5b will be described with reference to FIG.
3 shows the camera unit 1 of the image input apparatus of FIGS. 1 and 2, 16a shows the internal focal point of the hyperboloid of the first reflecting mirror 5a, and 16b shows the internal focal point of the hyperboloid of the second reflecting mirror 5b. ing. Reference numeral 17 denotes a principal point of the imaging lens 3. Reference numeral 18 denotes a rotation center axis of the holding member 6 by the rotation device 7. An arrow D indicates the direction of rotation around the rotation center axis 18. The rotation center axes of the hyperboloid of the first reflecting mirror 5a and the hyperboloid of the second reflecting mirror 5b coincide with the optical axis 4, and the convex surfaces of these hyperboloids face in the opposite directions.
[0029]
Here, when the distance between the internal focus 16a and the rotation center axis 18 is Ra, and the distance between the internal focus 16b and the rotation center axis 18 is Rb,
Ra = Rb
It is constituted so that the following formula is established. Here, it is known that an image reflected and imaged by a hyperboloidal reflecting surface can be converted into an image observed from the position of the internal focal point.
[0030]
Therefore, even if the holding member 6 is rotated in the direction of the arrow D by the rotating device 7 and the positions of the first reflecting mirror 5a and the second reflecting mirror 5b are switched, the respective internal focal points and the main lenses of the imaging lens 3 are changed. The distance L from the point 17 remains unchanged.
[0031]
Therefore, when images in all directions reflected from the first reflecting mirror 5a and the second reflecting mirror 5b are converted, a panoramic image from the same viewpoint in space can be reproduced.
Next, the difference in the angle of view between the first reflecting mirror 5a and the second reflecting mirror 5b will be described with reference to FIGS.
[0032]
4A shows an angle of view when an image is captured by the second reflecting mirror 5b, and FIG. 4B shows an angle of view when an image is captured by the first reflecting mirror 5a. FIG. 4C is a diagram comparing the angle of view of the first reflecting mirror 5a and the second reflecting mirror 5b.
[0033]
In FIG. 4A, the second reflecting mirror 5b captures an image having an angle of view of 360 degrees around the optical axis 4 and an angle α in the optical axis 4 direction. On the other hand, in FIG. 4B, since the first reflecting mirror 5a has a smaller radius of curvature than the second reflecting mirror 5b, the first reflecting mirror 5a has 360 degrees around the optical axis 4 and the second reflecting mirror 5b. As compared with the case of the reflecting mirror 5b, it can be seen that the farther side from the imaging lens 3 is imaged in the direction of the optical axis 4.
[0034]
FIG. 4C is a schematic diagram shown for clarifying the difference in the angle of view. A point 19 is shown in which the positions of the respective internal focal points coincide with each other. As is clear from FIG. 4C, it can be seen that different angles of view are captured while the angles of view that can be captured by the respective reflecting mirrors partially overlap.
[0035]
The control device 15 is configured as shown in steps 20a to 20i in FIG.
Hereinafter, the configuration of the control device 15 will be described with reference to the flowchart of FIG.
(Step 20a) Recognition of rotational position:
The control device 15 recognizes the position of the rotating device 7 and recognizes which of the two reflecting mirrors faces the image pickup element 2. In the case of FIGS. 1 and 2, the second reflecting mirror 5b is recognized. Hereinafter, the position of the initial reflecting mirror will be described with reference to FIGS.
(Step 20b) Image A:
The control device 15 drives the image pickup device 2 to pick up an image. This image is referred to as an image A. Image A is an image reflected by the second reflecting mirror 5b. A schematic diagram of the image A is shown in FIG. As shown in FIG. 6A, a donut-shaped image is taken, and the circumferential direction θ of the image A indicates the direction around the optical axis 4 in FIG. 4A, and α is the same as in FIG. The angle of view is in the direction of the optical axis 4.
(Step 20c) Storage of image A:
The image captured in step 20b is sent to and stored in the image storage device 11. At this time, it is distinguished and stored so that it can be seen that the image A is picked up using the second reflecting mirror 5b.
(Step 20d) Driving the rotating device 7:
The control device 15 drives the rotating device 7 to reverse the positions of the first reflecting mirror 5a and the second reflecting mirror 5b.
(Step 20e) Image B:
The control device 15 drives the image pickup device 2 to pick up an image. This image is designated as an image B. Image B is an image reflected by the first reflecting mirror 5a. A schematic diagram of the image B is shown in FIG. As shown in FIG. 6B, a donut-shaped image is taken, the circumferential direction θ of the image B indicates the direction around the optical axis 4 in FIG. 4B, and β is the same as in FIG. The angle of view is in the direction of the optical axis 4.
(Step 20f) Storage of image B:
The image captured in (Step 20e) is sent to and stored in the image storage device 11. At this time, the images are distinguished and stored so as to be recognized as an image B imaged using the first reflecting mirror 5a.
(Step 20g) Conversion of image A and image B:
The geometric conversion device 12 converts the images A and B stored in the image storage device 11 into panoramic images, respectively. In FIGS. 6A and 6B, a panoramic image can be generated by geometric conversion into a rectangular image in which the θ direction is the major axis direction and the α and β directions are the minor axis directions. A broken line 21 in FIG. 7 is a panoramic image A obtained by converting the image A into a panoramic image, and a solid line 22 in FIG. 7 is a panoramic image B obtained by converting the image B into a panoramic image.
[0036]
The geometric conversion device 12 includes different conversion parameters for the first reflecting mirror 5a and the second reflecting mirror 5b that have been imaged, and the processing parameters are switched according to the type of image called from the image storage device 11 for processing. Execute.
(Step 20h) Composition of Image A and Image B:
FIG. 7 shows a position where the panoramic image A indicated by the broken line 21 and the panoramic image B indicated by the solid line 22 are combined. As shown in FIG. 4, the panoramic image A indicated by the broken line 21 images the position of the angle of view α, and the panoramic image B indicated by the solid line 22 images the position of the angle of view β. Both panorama image A and panorama image B are images observed from the same viewpoint in space.
[0037]
Therefore, a panoramic image with a wider angle of view is generated by generating one image (21-22) by combining as shown in FIG. In the region where the panorama image A and the panorama image B overlap each other, the images are interpolated to improve the resolution of the image.
(Step 20i) Display:
The image generated in step 20h is displayed on the display device 14 shown in FIG.
[0038]
As shown in FIGS. 1 and 2, since the structure has a plurality of reflecting mirrors 5 a and 5 b with respect to a single image pickup device, it is possible to easily pick up images with different angles of view. In particular, in the case where the reflecting surface captures omnidirectional images around the optical axis at a time, omnidirectional images with different angles of view can be captured by a single image capturing element.
[0039]
Furthermore, since the reflecting mirrors that are not used for imaging among the multiple reflecting mirrors are stored at the blind spot position in the optical axis direction when the image is captured, the image is captured with a good angle of view without obstructing the imaging direction. Is possible. In particular, in the case where images in all directions are obtained at one time, this is particularly effective because there are few blind spots.
[0040]
Furthermore, by combining images captured by two hyperboloidal reflectors having different curvatures as shown in FIGS. 1 and 2, it is possible to widen the angle of view of a 360-degree panoramic image and at the same time Resolution can also be improved.
[0041]
In the present embodiment, the case where two hyperboloidal reflecting mirrors are switched has been described. However, the hyperboloidal surface is not necessarily required. For example, as shown in FIGS. 8A and 8B, both may be conical surfaces or one may be a spherical surface. In these cases as well, a 360-degree panoramic image can be generated, so that panoramic images having two different angles of view can be obtained, and it is needless to say that the angle of view can be widened by combining them.
[0042]
In addition, as shown in FIG. 2, the transparent holding member 10 was made into an elliptical shape for the following reason.
In FIG. 1, when the first reflecting mirror 5a and the second reflecting mirror 5b are rotated to change their positions, the first and second reflecting mirrors 5a and 5b collide and rotate when the cylindrical shape has a small diameter. Can not. For this reason, the first and second reflecting mirrors 5a and 5b have an elliptical shape so that the tips of the first and second reflecting mirrors 5a and 5b do not collide so as to be as small as possible without contacting the rotation orbits of the first and second reflecting mirrors 5a and 5b. It is composed.
[0043]
Further, since the transparent holding member 10 covers the entire circumference, the deterioration (attenuation, refraction) of light when light passes through becomes uniform in the circumferential direction, and the image does not deteriorate locally.
(Embodiment 2)
9 to 14 show (Embodiment 2).
[0044]
FIGS. 9 and 10 show the image input apparatus of (Embodiment 2), and the same reference numerals as those in FIGS.
Reference numeral 100 in FIGS. 9 and 10 denotes the camera unit of the second embodiment. Of the camera unit 100, 101 is a plane mirror. Reference numeral 102 denotes a flat mirror holding member. Reference numeral 103 denotes a hyperboloid mirror. Reference numeral 104 denotes a plane mirror rotating device serving as direction selection means, which rotates the plane mirror 101 and the plane mirror holding member 102 around the optical axis 4. A holding member 105 holds the flat mirror 101, the flat mirror holding member 102, the hyperboloid mirror 103, and the flat mirror rotating device 104. A rotating device 106 rotates the holding member 105 in the direction of the optical axis 4 so that the positions of the plane mirror 101 and the hyperboloid mirror 103 can be reversed (up and down in FIGS. 9 and 10).
[0045]
The portion for processing the signal of the camera unit 100 is configured as follows.
Reference numeral 107 denotes an image processing apparatus that performs processing on the image stored in the image storage device 11 and displays it on the display device 14. Reference numeral 108 denotes an input device, which is a device for instructing the position of the image displayed on the display device 14. Reference numeral 109 denotes a control device that performs control according to the contents described in a program that internally holds the flat mirror rotation device 104, the rotation device 105, the image pickup device 2, the image storage device 11, and the image processing device 107.
[0046]
The control device 109 is configured as steps 110a to 110i in FIG.
FIG. 12 is an explanatory diagram showing the operation of the camera unit 100 in FIGS.
[0047]
FIG. 13 is an explanatory diagram of an omnidirectional image captured by the camera unit 100 in FIGS. 9 and 10.
FIG. 14 is an explanatory diagram of a composite image processed by the image processing device 107 in FIGS. 9 and 10 and displayed on the display device 14.
[0048]
Hereinafter, the configuration of the control device 109 will be described with reference to the flowchart of FIG.
(Step 110a) Imaging of omnidirectional image:
After confirming that the position of the hyperboloid mirror 103 is at a position facing the imaging lens 3 as shown in FIG. 7, the image pickup device 2 is operated to pick up an image. FIG. 12A shows the camera unit 100 during the operation of step 110a.
[0049]
FIG. 13 is a captured omnidirectional image. θ indicates the periphery of the optical axis 4, α indicates the direction of the optical axis 4, and images in all directions around the optical axis 4 are captured. Such an image is called an omnidirectional image.
(Step 110b) Storage of omnidirectional image:
The omnidirectional image is stored in the image storage device 11.
(Step 110c) Display of omnidirectional image:
The omnidirectional image stored in the image storage device 11 is displayed on the display device 14.
Note that the image processing device 107 passes the image from the image storage device 11 to the display device 14.
(Step 110d) Gaze direction instruction:
Any point in the omnidirectional image shown in FIG. The selection of a point to be input indicates a place where a more detailed image is to be obtained from the omnidirectional images. Assume that a point 111 in FIG. 13 is an input point.
(Step 110e) Upside down of the reflecting mirror:
The control device 109 works on the rotation device 105 to rotate the holding member 105 in the direction of the optical axis 4, thereby reversing the positions of the plane mirror 101 and the hyperboloid mirror 103. FIG. 12B shows a state in which the plane mirror 101 is rotated in (Step 110e).
(Step 110f) Direction control of plane mirror:
The plane mirror 101 reflects an image in only one direction around the optical axis 4. Accordingly, the plane mirror rotating device 104 is rotated so as to face the direction around the optical axis 4 corresponding to the position of the point 111 designated in (Step 110d). FIG. 12C shows a state in which the plane mirror is rotated by the plane mirror rotating device 104.
(Step 110f) Imaging of plane reflection image:
The image pickup device 2 is operated to pick up an image reflected by the flat mirror 101 (referred to as a flat reflection image).
(Step 110g) Storage of plane reflection image:
The plane reflection image is stored in the image storage device 11.
(Step 110h) Synthesis of Omnidirectional Image and Plane Reflection Image:
The omnidirectional image stored in the image storage device 11 is called by the image processing device 107 and converted into a panoramic image. Reference numeral 112 in FIG. 14 denotes a panoramic image obtained by expanding the omnidirectional image in FIG. Here, the point 113 indicates a position corresponding to the point 111 in FIG. Next, a plane reflection image is called from the image storage device 11 and synthesized into a panoramic image. Reference numeral 114 denotes a place where the plane reflection image is pasted.
[0050]
As described above, when a part of the omnidirectional image obtained by the hyperboloid mirror 103 is designated, the plane mirror 101 rotates in a predetermined direction, and a detailed image corresponding to the designated position can be taken.
[0051]
In (Embodiment 2), the plane reflection image is synthesized with the omnidirectional image, but it is not always necessary to superimpose it. The objective of observing the direction in detail can be achieved.
[0052]
Furthermore, although the hyperboloidal mirror is used in (Embodiment 2), the shape is not limited as long as an omnidirectional image can be obtained at one time, and may be a shape such as a cone or a sphere.
(Embodiment 3)
15 and 16 show (Embodiment 3).
[0053]
(Embodiment 1) In (Embodiment 2), the operation is automatically performed under the control of the control device. However, the automatic control is not necessarily required. For example, if the structure shown in FIG. 15 is used, the mirror can be rotated very easily. FIGS. 16A to 16F are explanatory diagrams of the usage state.
[0054]
In FIGS. 15A and 15B, reference numeral 200 denotes a camera unit. In the camera unit 200, components having the same functions as those in FIGS.
[0055]
Reference numeral 201 denotes a holding member, which holds the flat mirror 101 and the hyperboloid mirror 103 up and down. Here, the holding member 201 has a structure that can be separated from the transparent holding member 10C and the protective member 8 as shown in FIG. Therefore, the holding member 201 is manually rotated as shown in FIG. 16C and joined to the transparent holding material 10 again as shown in FIG. Next, as shown in FIG. 16E, the holding member 201 is manually rotated so that the image is taken in the plane mirror 101. Finally, the protection member 8 is joined to the holding member 201 as shown in FIG.
[0056]
With such a structure, there is no need for a device for rotation, and it is possible to replace mirrors having different shapes with a very simple structure.
[0057]
【The invention's effect】
As described above, according to the present invention, a single image pickup device has a structure having a plurality of angle-of-view reflecting mirrors, so that images with different angles of view can be easily picked up.
[0058]
In particular, in the case where the reflecting surface captures omnidirectional images around the optical axis at a time, omnidirectional images with different angles of view can be captured by a single image capturing element.
Furthermore, since the reflecting mirror not used for imaging is stored in the position of the blind spot when the omnidirectional image is captured in the optical axis direction, it is possible to capture the omnidirectional image with a favorable angle of view.
[0059]
Furthermore, by synthesizing images picked up by curved reflectors having different curvatures, it is possible to widen the angle of view of a 360-degree panoramic image and at the same time improve the resolution of the image.
[0060]
In particular, when one has a reflecting mirror capable of obtaining an omnidirectional image and the other has a plane mirror, the plane mirror is in a predetermined direction by indicating a part of the omnidirectional image. The detailed image corresponding to the instructed position can be taken.
[0061]
Furthermore, it is also possible to display a detailed image by a plane mirror superimposed on an omnidirectional image.
Furthermore, when a configuration in which the above effects can be easily performed manually without using power such as an actuator, it can be realized with a simple and inexpensive configuration.
[Brief description of the drawings]
FIG. 1 is a configuration diagram of an image input apparatus according to a first embodiment.
FIG. 2 is a plan view of the image input apparatus according to the embodiment;
FIG. 3 is an explanatory diagram of the positional relationship of the camera unit according to the embodiment;
FIG. 4 is an explanatory diagram of a difference in angle of view of different reflecting mirrors of the embodiment
FIG. 5 is a flowchart showing the operation of the embodiment.
FIG. 6 is an explanatory diagram of an image captured by a reflecting mirror having a different shape in the embodiment.
FIG. 7 is an explanatory diagram showing a synthesis result of images picked up by reflecting mirrors having different shapes in the embodiment;
FIG. 8 is an explanatory diagram of the image input apparatus according to the embodiment;
FIG. 9 is a configuration diagram of an image input device according to a second embodiment.
FIG. 10 is a configuration diagram of an image input apparatus according to the embodiment;
FIG. 11 is a flowchart showing the operation of the embodiment.
FIG. 12 is an explanatory diagram of the operation of the camera unit according to the embodiment;
FIG. 13 is an explanatory diagram of a captured image according to the embodiment;
FIG. 14 is an explanatory diagram showing a composite image of the embodiment
FIG. 15 is an explanatory diagram of an image input apparatus according to the third embodiment.
FIG. 16 is an explanatory diagram of a use state of the embodiment
[Explanation of symbols]
1 Camera unit
2 Image sensor
3 Imaging lens
4 Optical axis of imaging lens
5a First reflector
5b Second reflector
6 Holding member
7 Rotating device
8 Protection members
9 Camera base
10 Transparent holding material
11 Image storage device
12 Geometric transformation device
13 Synthesis processing device
14 Display device
15 Control device
16a, 16b Hyperboloid internal focus
17 Main point of imaging lens 3
18 rotation center axis
100 camera section
101 Flat mirror
102 Flat mirror holding member
103 Hyperboloid mirror
104 Flat mirror rotating device
105 Holding member
106 Rotating device
107 Image processing apparatus
108 Input device
109 Controller

Claims (12)

An image sensor;
An imaging optical system;
A plurality of reflecting surfaces having different shapes,
Selecting means for selecting an arbitrary reflecting surface from the plurality of reflecting surfaces;
An image input device that forms an image around the optical axis of the imaging optical system on the image pickup element by cooperation between an arbitrary reflecting surface selected by the selection means and the imaging optical system. Detecting means for detecting the reflecting surface selected by the selecting means;
The image input apparatus according to claim 1, further comprising: a conversion processing unit that performs a geometric conversion process on the image output from the image pickup device in accordance with the output of the detection unit. A first reflecting surface selected from the plurality of reflecting surfaces by the selecting means is disposed on the optical axis of the imaging optical system and at a position facing the imaging surface of the image pickup device, and the first reflecting surface is arranged. A holding means for holding the second reflecting surface having a shape different from the surface on the optical axis of the imaging optical system and at the back position of the first reflecting surface;
The image input apparatus according to claim 1, further comprising a reversing unit that reverses the position of the first reflecting surface and the position of the second reflecting surface. The image input device according to claim 3, wherein the reversing unit is a rotation mechanism that rotates the holding unit around an axis perpendicular to the optical axis of the imaging optical system. The first reflecting surface of the plurality of reflecting surfaces is an axially rotationally symmetric surface that forms an image in all directions around the optical axis of the imaging optical system in an approximately concentric manner on the image pickup device. Item 2. The image input device according to Item 1. The second reflecting surface of the plurality of reflecting surfaces has a curvature different from that of the first reflecting surface, and has an angle of view different from that of the first reflecting surface in the optical axis direction of the imaging optical system. The image input device according to claim 5, wherein the image input device is an axially rotationally symmetric surface that forms an image substantially concentrically on the image pickup device. The first reflecting surface is a first hyperboloid, the second reflecting surface is a second hyperboloid having a curvature different from that of the first hyperboloid, and the first reflecting surface is selected by the selecting means. 7. The position of the internal focal point of the first hyperboloid when the surface is selected and the position of the internal focal point of the second hyperboloid when the second reflecting surface is selected are substantially the same. Image input device. The first image formed by the first hyperboloid when the first reflecting surface is selected and the second image formed by the second hyperboloid when the second reflecting surface is selected Storage means for storing images;
Geometric conversion means for geometrically converting the first image and the second image stored in the storage means to convert the image into an image from one viewpoint;
The image input apparatus according to claim 7, further comprising a synthesis processing unit that performs a synthesis process on the first image and the second image converted by the conversion processing unit. The image according to claim 5, wherein the second reflecting surface of the plurality of reflecting surfaces is a reflecting surface that forms an image from a single direction around the optical axis of the imaging optical system on the image pickup device. Input device. 10. A direction selecting unit that drives a second reflecting surface of the plurality of reflecting surfaces and forms an image on an image pickup element from an arbitrary direction around an optical axis of the imaging optical system. The image input device described. Display means for displaying an omnidirectional image around the optical axis of the imaging optical system formed on the image pickup element using the first reflecting surface of the plurality of reflecting surfaces;
Instruction means for instructing an arbitrary area of the display image displayed on the display means;
Control means for controlling the direction selecting means to form an image on the image pickup element by the second reflecting surface from a direction coinciding with the area of the display image indicated by the instruction means; The image input device according to claim 10. Storage means for storing a first image formed on the image pickup device using the first reflecting surface;
A converted image obtained by geometrically converting the first image stored in the storage unit is generated, and the second image formed on the image pickup device by the second reflecting surface controlled by the control unit is converted. The image input device according to claim 11, further comprising image processing means for superimposing the image.

Images