JP4709126B2 - Imaging apparatus, method, and program - Google Patents

Description

  The present invention relates to a photographing apparatus and method having a function of calculating a subject distance from a photographing means for obtaining an image by photographing, and a program for causing a computer to execute the photographing method.

  In a photographing device that captures an image by photographing a subject, the distance from the photographing device to the subject is measured by measuring the time until ranging light such as near infrared rays emitted toward the subject is reflected by the subject and returns. A distance image is created by measuring a distance. A method of measuring the distance to the subject (ranging) using the reflection of light in this manner is called a TOF (Time Of Flight) method. When the TOF method is used, the reflected light from the subject is not reflected. If it cannot be obtained, ranging cannot be performed. Even if the reflected light is obtained, the influence of noise increases if the amount of light is small, so accurate distance measurement cannot be performed. For example, when the subject is at a position far from the photographing apparatus, a sufficient amount of reflected light cannot be obtained, and thus accurate distance measurement cannot be performed.

  In such a case, if the detection period of the reflected light is lengthened, a sufficient amount of reflected light necessary for distance measurement can be received. However, if the detection period of the reflected light is lengthened, the light detection element that receives the reflected light is likely to be saturated when the subject is close to the photographing apparatus. When the light detection element is saturated, the received light amount of the reflected light does not correspond to the output signal of the light detection element, so that accurate distance measurement cannot be performed.

For this reason, a plurality of detection periods for integrating the signal charges generated by the light detection element are set, and the detected charge amount is within a range not exceeding the charge amount allowed for the light detection element from the set detection periods. There has been proposed a method of calculating a distance to a subject with as little influence as possible by selecting a maximum detection period and performing distance measurement using the detected period (see Patent Document 1). In Patent Document 1, the detection sensitivity of reflected light is increased by changing the area of a region that generates charge from reflected light.
JP 2006-84430 A

  However, when the distance is measured by the TOF method, the influence of noise is still unavoidable even if a technique such as Patent Document 1 is used. For this reason, a method for performing distance measurement without being affected by noise is desired.

  The present invention has been made in view of the above circumstances, and an object thereof is to enable distance measurement without being affected by noise as in the case of distance measurement in the TOF method.

An imaging apparatus according to the present invention is an imaging apparatus that includes an imaging unit that acquires an image by imaging, and performs imaging while translating an angle of view,
Control means for controlling the photographing means so as to obtain a plurality of the images by performing photographing a plurality of times while translating the angle of view;
Recognizing a plurality of subjects included in the image, calculating a displacement amount in the plurality of images between the corresponding subjects between the plurality of images, and from the photographing unit based on a magnitude relationship of the displacement amount And a distance calculating means for calculating a subject distance, which is a distance to a plurality of subjects.

The photographing apparatus according to the present invention further includes a parallel movement amount obtaining unit that obtains a parallel movement amount of the photographing unit,
The distance calculating unit may be a unit that calculates absolute subject distances of the plurality of subjects based on a parallel movement amount of the photographing unit.

The photographing apparatus according to the present invention further includes a moving unit that translates the photographing unit,
The parallel movement amount acquisition unit may be a unit that acquires a parallel movement amount of the photographing unit by the movement unit.

The photographing apparatus according to the present invention further includes input means for receiving an input of a subject distance of at least one subject among the plurality of subjects.
The distance calculation unit may be a unit that calculates an absolute subject distance of a subject other than the subject to which the subject distance is input based on the acquired subject distance.

In the photographing apparatus according to the present invention, the plurality of subjects are irradiated with light, reflected light of the light from the subject is detected by the photographing means, and the reflected light is emitted from the light after the light is emitted. Optical distance calculating means for calculating subject distances of the plurality of subjects based on time until detected by
An exposure setting unit that sets an exposure of the photographing unit when detecting the reflected light based on the subject distance calculated by the distance calculating unit may be further provided.

  Here, the “optical distance calculation means” is a means for performing distance measurement by the TOF method.

  “Setting exposure” may be to set an exposure time, or to set the amount of light to be irradiated to a plurality of subjects.

A photographing method according to the present invention is a photographing method in a photographing apparatus that includes photographing means for obtaining an image by photographing, and performs photographing while translating an angle of view,
Controlling the photographing means to acquire a plurality of the images by performing a plurality of times of photographing while translating the angle of view;
Recognizing a plurality of subjects included in the image;
Calculating a displacement amount in the plurality of images between the corresponding subjects between the plurality of images;
A subject distance, which is a distance from the photographing unit to the plurality of subjects, is calculated based on the magnitude relationship of the displacement amount.

  In addition, you may provide as a program for making a computer perform the imaging | photography method by this invention.

  According to the present invention, a plurality of images are acquired by performing photographing a plurality of times while the angle of view is translated, and a plurality of subjects included in the plurality of images are recognized. Then, the displacement amount in the plurality of images between the corresponding subjects among the plurality of images is calculated. Here, in the case where the distance to the subject is small and large, when the angle of view is translated, the former displacement amount becomes larger than the latter displacement amount. Therefore, the subject distance can be calculated based on the magnitude relationship of the displacement amount without using light as in the TOF method, and as a result, distance measurement can be performed without being affected by noise.

  Also, by obtaining the parallel movement amount of the photographing means and calculating the absolute subject distance of the plurality of subjects, the absolute subject distance to the plurality of subjects can be obtained.

  In addition, by calculating the absolute subject distance to a plurality of subjects by using the accurate amount of movement of the photographing means by acquiring the parallel movement amount of the photographing means that is translated by moving the photographing means in parallel. Can do.

  In addition, by receiving an input of the subject distance of at least one subject among the plurality of subjects, it is possible to calculate the absolute subject distance of other subjects using this.

  The subject is irradiated with light, the reflected light of the subject is detected by the photographing means, and the subject distance is calculated based on the time from when the light is emitted until the reflected light is detected by the photographing means. At this time, by setting the exposure of the photographing means when detecting the reflected light based on the subject distance calculated based on the amount of displacement, the reflected light may contain noise when measuring the distance using the TOF method. The exposure of the photographing means can be controlled so that the reflected light can be detected with respect to a subject that is highly distant from the photographing means. Therefore, even when the subject distance is large, accurate distance measurement can be performed using the TOF method.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a schematic block diagram showing the configuration of a digital camera to which the photographing apparatus according to the first embodiment of the present invention is applied. The digital camera 1 shown in FIG. 1 includes an operation system 10 such as an operation mode switch, up / down / left / right buttons, a release button, and a power switch, and an operation system control unit that is an interface part for transmitting the operation content of these switches to the CPU 42. 12.

  As an optical system, a lens 21 is provided. The lens 21 includes a plurality of functional lenses such as a focus lens for focusing on a subject and a zoom lens for realizing a zoom function, and the position of each functional lens is adjusted by a lens driving unit 22.

  The diaphragm 23 is driven by a diaphragm driving unit 24. The aperture drive unit 24 adjusts the aperture diameter.

  The shutter 25 is a mechanical shutter and is driven by a shutter driving unit 26. The shutter driving unit 26 controls opening / closing of the shutter 25 in accordance with a signal generated by pressing the release button.

  An image sensor 27 is provided behind the optical system. The image sensor 27 is a distance image CMOS sensor that can detect both distance and image, and has a photocathode in which pixels including a plurality of light receiving elements are two-dimensionally arranged and passes through an optical system. The subject light thus formed forms an image on the photoelectric surface and is photoelectrically converted. In front of the photocathode, a microlens array for condensing light on each pixel and a color filter array in which filters of R, G, and B colors are regularly arranged are arranged. The image sensor 27 outputs the electric charge accumulated for each pixel as a serial analog image signal for each line in synchronization with the vertical transfer clock and the horizontal transfer clock supplied from the image sensor control unit 28. The time for accumulating charges in each pixel, that is, the exposure time is controlled by the image sensor control unit 28.

  Here, the exposure time for each pixel can be controlled by changing the electronic shutter speed for each pixel. For example, when it is desired to shorten the exposure time, the shutter speed is increased. When it is desired to increase the exposure time, the shutter speed may be decreased. The gain of the image sensor 27 is adjusted by the image sensor control unit 28 so that an analog image signal having a predetermined size can be obtained.

  Further, as described later, the imaging device 27 captures reflected light from the subject of the ranging light emitted from the light emitting unit 41 and obtains an imaging signal of the reflected light when performing distance measurement using the TOF method. Note that the image sensor 27 is controlled by the image sensor control unit 28 so as to have an exposure time set for each pixel by an exposure setting unit 53 to be described later when performing distance measurement by the TOF method.

  In the present embodiment, the lens 21, the diaphragm 23, the shutter 25, and the imaging element 27 constitute the imaging system 20.

  An analog image signal captured from the image sensor 27 at the time of photographing a subject is input to the analog signal processing unit 30. The analog signal processing unit 30 converts a correlated double sampling circuit (CDS) that removes noise of the analog imaging signal, an auto gain controller (AGC) that adjusts the gain of the analog imaging signal, and converts the analog imaging signal into a digital signal. It consists of an A / D converter (ADC). The image data converted into the digital signal is RAW image data having R, G, and B density values for each pixel. In the following description, the image data and the image are not acquired from the reflected light imaging signal acquired when the distance is measured by the TOF method, but are acquired by photographing the subject. I will do it.

  The image input controller 31 writes the RAW image data input from the analog signal processing unit 30 into the frame memory 33.

  The timing generator 32 generates a timing signal. By supplying this timing signal to the shutter drive unit 26, the image sensor control unit 28, and the analog signal processing unit 30, the release button is operated, the shutter 25 is opened and closed, The capturing of the charge of the image sensor 27 and the processing of the analog signal processing unit 30 are synchronized.

  The frame memory 33 is a working memory that is used when various kinds of processing described later are performed on the image data.

  The media control unit 34 controls the writing and reading of the image file by accessing the recording medium 35.

  The display control unit 36 is for displaying an image of image data acquired by photographing on the liquid crystal monitor 37 and for displaying an image of image data stored in the recording medium 35 on the liquid crystal monitor 37.

  The image processing unit 38 performs image quality correction processing such as gradation correction, sharpness correction, and color correction on the image data, RAW image data is Y data that is a luminance signal, Cb data that is a blue color difference signal, and a red color difference signal. YC processing for converting into YC data consisting of Cr data is performed.

  The compression / decompression processing unit 39 performs a compression process on the image data of the image subjected to the correction / conversion process by the image processing unit 38 in a compression format such as JPEG, and generates an image file. In addition, when reproducing an image, the compression / decompression processing unit 39 reads the compressed image file from the recording medium 35 and performs an expansion process. The decompressed image data is output to the liquid crystal monitor 37.

  The internal memory 40 stores various constants set in the digital camera 1, programs executed by the CPU 42, and the like.

  The light emitting unit 41 is controlled by the CPU 42 when performing distance measurement by the TOF method, and emits distance measuring light composed of near infrared rays having a wavelength range of about 850 nm toward the subject. The distance measuring light emitted toward the subject is reflected by the subject and detected by the image sensor 27. In addition, the light emission part 41 can comprise many LED in a planar form, or can be comprised by the combination of a semiconductor laser and a lens.

  The CPU 42 controls each part of the main body of the digital camera 1 in accordance with signals from the operation system 10 and various processing units. Further, the imaging system 20 is controlled so as to adjust the focus position by the AF process. Further, the imaging system 20 is controlled so that an appropriate exposure can be obtained by the AE process. Further, the CPU 42 controls the imaging system 20 so as to continuously shoot at predetermined time intervals until the release button is pressed when performing distance measurement.

  Here, in the first embodiment, the photographer performs photographing while moving the digital camera 1 in parallel in order to perform distance measurement of the subject. The parallel movement amount acquisition unit 50 acquires the parallel movement amount of the digital camera 1. Here, the parallel movement amount acquisition unit 50 includes an acceleration sensor, and the parallel movement amount of the digital camera 1 is acquired by detecting the parallel movement amount of the digital camera 1 using the acceleration sensor. The acquisition of the amount of parallel movement is not limited to using an acceleration sensor. For example, an image sensor is provided on the bottom surface of the digital camera 1 to sequentially acquire a plurality of images at predetermined time intervals, and a plurality of images are acquired. It may be obtained by calculating the amount of movement of the subject in common on the image as the amount of parallel movement of the digital camera 1. Moreover, the parallel movement amount of the digital camera 1 may be acquired by providing the digital camera 1 with a GPS measurement device. Alternatively, the translation amount input by the photographer from the operation system 10 may be acquired.

  The distance calculation unit 51 recognizes a subject included in a plurality of images acquired by the imaging system 20, and calculates a subject distance from a displacement amount of the subject between the plurality of images. First, the calculation of the displacement amount will be described. The distance calculation unit 51 detects an edge from an image acquired by photographing, and recognizes an area surrounded by the detected edge as one subject. 2A and 2B are diagrams for explaining recognition of a subject. FIG. 2A shows an image before edge detection, and FIG. 2B shows an image after edge detection. As shown in FIG. 2, two trees at the rear, two cars in front of the tree, and a person in front are recognized as one subject H <b> 1 to H <b> 5 by edge detection.

  Further, the distance calculation unit 51 associates the subjects H1 to H5 with each other between two images acquired at predetermined time intervals. Specifically, pixels in the same part in the subjects H1 to H5 are associated with each other. Then, the displacement amount between the associated subjects is calculated. Here, when the digital camera 1 moves in parallel, the displacement amount of the former is larger than the displacement amount of the latter when the distance to the subject is small and when the distance is large. 3 and 4 are diagrams for explaining the difference in displacement. As shown in FIG. 3, when two identical subjects H11 and H12 exist within the angle of view of the digital camera 1, when the digital camera 1 is translated from the position P1 to the position P2, the angle of view of the digital camera 1 is a solid line. Is moved in parallel from the one shown in FIG.

  Here, as shown in FIG. 4, the image G11 acquired when the digital camera 1 is at the position P1 and the image G12 acquired when the digital camera 1 is at the position P2 are compared. Since the subject H11 is closer to the digital camera 1 than the subject H12 within the angle of view of the digital camera 1, the movement amount V12 of the pixel on the subject H12 is between two images G11 and G12 acquired by photographing. The amount of movement V11 of the pixel on the subject H11 is larger.

  Therefore, the movement amounts V11 and V12 of the subject H11 and the subject H12 on the images G11 and G12 before and after the movement can be calculated as a subject distance Lr that is a relative distance of the subjects H11 and H12 from the digital camera 1. For example, as shown in FIG. 5, in the images G1 and G2 before and after the movement of the digital camera 1, the subject distance Lr of the two trees H1 and H2, the two cars H3 and H4, and the person H5 is H5 <H4 <. Since H3 <H1, H2, the relationship between the moving amounts V1-V5 of the subjects H1-H5 is V5> V4> V3> V1, V2. Accordingly, the relative subject distances Lr1 to Lr5 of the two trees H1 and H2, the two cars H3 and H4, and the person H5 from the digital camera 1 are Lr5> Lr4> Lr3> Lr1 and Lr2.

  On the other hand, in this embodiment, the parallel movement amount of the digital camera 1 is acquired by the parallel movement amount acquisition unit 50. Therefore, the absolute subject distance La of the subject within the angle of view can be calculated from the parallel movement amount of the digital camera 1. Hereinafter, calculation of the absolute subject distance La will be described.

  FIG. 6 is a diagram for explaining the calculation of the absolute subject distance. 6, d is a focal length, b1 is a distance from the center of the image sensor 27 to the subject H on the photocathode GS1 of the image sensor 27 before the digital camera 1 is moved, and b2 is an image sensor after the digital camera 1 is moved. The distance from the center of the image sensor 27 to the subject H on the photocathode GS2 27, c = c1 + c2, is the parallel movement amount of the digital camera 1. Therefore, the displacement amount of the subject H before and after the movement of the digital camera 1 is b1 + b2.

  Here, on the line segment L0 connecting the image sensor 27 and the subject H in the digital camera 1 before movement, the distance from the lens 21 to the subject H is x, the distance from the image sensor 27 to the lens 21 is y, and the line segment. When the angle L0 forms with the photocathode of the image sensor 27 is θ, the absolute subject distance La is expressed by the following equation (1).

La = x · sin θ (1)
Here, since x: y = c: b1 + b2, x = c · y / (b1 + b2). Further, y = √ (b1 ² + d ² ) and θ = arctan (d / b1). Therefore, the absolute subject distance La can be calculated by the following equation (2).

La = c · √ (b1 ² + d ² ) · arctan (d / b1) / (b1 + b2) (2)
The distance calculation unit 51 calculates the absolute subject distance La for each pixel in the image before the movement, based on the amount of displacement of the subject between the two images photographed continuously and the above equation (2). Thereby, as shown in FIG. 7, a distance image Lg0 in which the color of the subject is changed in accordance with the subject distance La can be generated. In FIG. 7, the denser the hatching, the greater the subject distance La.

  Here, the distance calculation unit 51 temporarily stores the calculated subject distance La in the frame memory 33 in association with each pixel of the image acquired before the movement of the digital camera 1. Here, in the present embodiment, since shooting is performed at predetermined time intervals, the distance calculation unit 51 calculates the subject distance La every time shooting is performed and a new image is acquired. The recorded subject distance La is overwritten in the frame memory 33.

  When the release button is pressed, the optical distance calculation unit 52 emits distance measuring light toward the subject, and each pixel of the image sensor 27 detects the reflected light of the distance measuring light from the subject. The time until this is measured, and the optical object distance Lo is calculated. For example, as described in Patent Document 1, the image sensor 27 receives reflected light of the intensity-modulated light that is intensity-modulated so that the intensity of the light emitted from the light-emitting unit 41 periodically changes at a constant period. The phase difference of the reflected light with respect to the distance measuring light is detected from the analog imaging signal obtained by performing the process until the distance measuring light is emitted using the detected phase difference until the reflected light of the distance measuring light is detected. Time is calculated, and an optical subject distance Lo is calculated from the calculated time and the speed of light.

  The calculated subject distance Lo is associated with each pixel of the image sensor 27 and is recorded on the recording medium 35 as a distance image.

  The exposure setting unit 53 sets the exposure time in each pixel of the image sensor 27 based on the absolute subject distance La calculated by the distance calculation unit 51 when performing distance measurement by the TOF method. Specifically, in each pixel on the photocathode of the image sensor 27, a pixel corresponding to a subject with a large subject distance La increases the exposure time by slowing down the shutter speed, and more charges are detected. Set the exposure time as follows. The set exposure time is output to the image sensor control unit 28, and the image sensor control unit 28 controls the exposure time of the image sensor 27 based on the exposure time set by the exposure setting unit 53. As a result, it is possible to detect a charge corresponding to a sufficient amount of light even for a subject whose reflected light intensity is weak and whose subject distance La is large.

  On the other hand, for pixels corresponding to a subject with a small subject distance La, the charge is detected so as not to be saturated by increasing the shutter speed and shortening the exposure time.

  In addition, by calculating the luminance of the image used when the distance calculating unit 51 calculates the subject distance La, a subject having a low reflectance (for example, a dark subject) is obtained in advance, and the subject corresponding to the subject having a low reflectance is dealt with. The exposure time of the pixels of the image sensor 27 may be lengthened to detect more charges. Thereby, it is possible to accurately detect the reflected light and perform distance measurement even for a dark subject whose reflected light intensity is weak.

  Next, processing performed in the first embodiment will be described. FIG. 8 is a flowchart showing the processing performed in the first embodiment. When a shooting instruction is input from the operation system 10, the CPU 42 starts processing, and the imaging system 20 performs shooting at predetermined time intervals (step ST1). Next, the distance calculation unit 51 recognizes the subjects of the two images whose shooting times are adjacent (step ST2), associates the subjects in the two images (step ST3), and calculates the displacement amount between the associated subjects. (Step ST4).

  On the other hand, the parallel movement amount acquisition unit 50 acquires the parallel movement amount of the digital camera 1 (step ST5), and the distance calculation unit 51 obtains the above equation (2) from the parallel movement amount of the digital camera 1 and the calculated displacement amount. Based on this, an absolute subject distance La is calculated (step ST6), and the subject distance La is associated with each pixel of the image sensor 27 and temporarily stored in the internal memory 40 (step ST7). If the subject distance La is already stored in the internal memory 40, the new subject distance La is overwritten.

  Subsequently, the CPU 42 determines whether or not the release button has been pressed (step ST8). If step ST8 is negative, the CPU 42 returns to step ST1 and repeats the processing after step ST1. If step ST8 is positive, the exposure setting unit 53 reads the subject distance La stored in the internal memory 40 for each pixel (step ST9), and sets the exposure time for each pixel in the image sensor 27 based on the subject distance La. (Step ST10). Then, it is determined whether or not the exposure time of all the pixels of the image sensor 27 has been set (step ST11). If step ST11 is negative, the process returns to step ST9, and the processes after step ST9 are repeated. If step ST11 is affirmed, the optical distance calculation unit 52 emits distance measuring light from the light emitting unit 41, performs distance measurement by the TOF method (step ST12), and acquires an optical subject distance Lo (step ST13). ), The process is terminated. The acquired subject distance Lo is recorded on the recording medium 35 as a distance image in association with each pixel.

  As described above, in the first embodiment, the digital camera 1 is translated without using light as in the TOF method, and the parallel movement amount of the digital camera 1 to be translated and the images are taken at predetermined time intervals. Since the subject distance La is calculated based on the displacement amount of the corresponding subject included in the image to be measured, distance measurement can be performed without being affected by noise.

  Further, when the distance is measured by the TOF method, the reflected light is also used for a subject at a position away from the imaging system 20 where the reflected light is likely to contain noise using the calculated subject distance La. Since the exposure time of each pixel of the image sensor 27 is controlled so as to be detectable, even when the subject distance is large, the distance can be accurately measured using the TOF method.

  In the first embodiment, the parallel movement amount acquisition unit 50 acquires the movement amount of the digital camera 1 and calculates the absolute subject distance La, but at least one included in the shooting angle of view. The absolute subject distance La of all the subjects included in the shooting angle of view can also be calculated by inputting subject distances of two subjects from the operation system 10. Hereinafter, calculation of the subject distance La by this method will be described.

  First, after calculating the relative subject distance Lr by the distance calculation unit 51, a distance image using the relative subject distance Lr is generated and displayed on the liquid crystal monitor 37. FIG. 9 is a diagram showing a distance image displayed on the liquid crystal monitor 37. As shown in FIG. 9, in the distance image Lg1, the subject recognized by the distance calculation unit 51 can be selected by operating the operation system 10. For example, the subject can be selected by pressing the up / down / left / right buttons to change the subjects H1 to H5 whose contours are emphasized. Here, FIG. 9 shows a state in which the subject H5 is selected. It should be noted that a touch panel may be provided on the liquid crystal monitor 37 and the subject may be selected by the photographer touching the touch panel directly or using a touch pen.

  With the subject selected in this way, the distance from the digital camera 1 to the subject measured by the photographer himself / herself is input using the operation system 10. Specifically, by operating the operation system 10, a distance input window 60 is displayed on the liquid crystal monitor 37 as shown in FIG. 10, and a numerical value is input using the operation system 10 to display the distance to the selected subject. Enter the distance.

  Then, the distance calculation unit 51 calculates the absolute subject distance La of all the subjects using the input distance. Here, as described above, since the absolute subject distance La of the subject can be calculated by the equations (1) and (2), the absolute subject distance of the input subject is La2, and the subject distance to be calculated is La3. Then, La2 and La3 have the relationship shown in the following formulas (3) and (4).

La2 = c · y2 · sin θ2 / (b21 + b22) (3)
La3 = c · y3 · sin θ3 / (b31 + b32) (4)
When dividing both sides of Equations (3) and (4),
La2 / La3 = y2 · sin θ2 · (b31 + b32) /
(Y3 · sin θ3 · (b21 + b22)) (5)
It becomes. Since y2, y3, θ2, θ3, b21, b22, b31, and b22 are known, La3 can be calculated if La2 is known. As a result, if the absolute subject distance for at least one subject is known, the absolute subject distance La of all other subjects can be calculated. Therefore, in the first embodiment, the subject distance La may be calculated in this way. In this case, the parallel movement amount acquisition unit 50 is not necessary.

  Next, a second embodiment of the present invention will be described. FIG. 11 is a schematic block diagram showing the configuration of a digital camera to which the photographing apparatus according to the second embodiment of the present invention is applied. Note that in the second embodiment, the same reference numerals are assigned to the same components as those in the first embodiment, and detailed description thereof is omitted. The digital camera 1A according to the second embodiment includes a moving unit 55 that translates the digital camera 1 itself, and the parallel movement amount acquiring unit 50 acquires the parallel movement amount of the digital camera 1A driven by the moving unit 55. This is different from the first embodiment.

  FIG. 12 is a diagram illustrating a specific configuration of the moving unit 55. As shown in FIG. 12, the moving part 55 includes a two-wheel tire 71 having a sufficient width and a motor (not shown) that drives the tire. Then, by driving the motor, the tire 71 is rotated, and for example, the digital camera 1A is translated in the direction of arrow A in FIG. The tire 71 may be four wheels.

  Here, in the second embodiment, the parallel movement amount of the digital camera 1A may be acquired by the parallel movement amount acquisition unit 50 in the same manner as in the first embodiment. For example, the number of rotations of the motor is detected. The parallel movement amount of the digital camera 1A may be calculated from the radius of the tire 71 and the rotational speed of the motor. In this case, sensors such as an acceleration sensor, a GPS device, and a two-dimensional sensor are not necessary.

  As described above, in the second embodiment, since the digital camera 1A is moved in parallel by the moving unit 55, the photographer does not have to perform photographing while moving, and as a result, the burden on the photographer is reduced. can do.

  As described above, when the digital camera 1A is moved by the tire 71, the digital camera 1A may be moved while manually rolling the tire 71 without using a motor. In this case, the photographer may be informed of the amount of movement of the digital camera 1A by making a beep every time the digital camera 1A moves 10 cm.

  Further, as shown in FIG. 13, only the imaging system 20 is attached to the endless belt 72, and the endless belt 72 is rotationally driven in the direction of arrow B by a pair of rollers 73A and 73B driven by a motor (not shown). Thus, only the imaging system 20 may be moved in the direction of arrow C.

  Further, as shown in FIG. 14, a plurality of (here, three) mirrors 75A, 75B, and 75C are rotatably provided by driving a motor 76, and the mirrors positioned on the optical axis X of the imaging system 20 are switched. As a result, a plurality of images can be acquired in the same manner as in the case of shooting while moving the imaging system 20 substantially. For example, as shown in FIG. 14, after taking a picture with the mirror 75A positioned on the optical axis X, the mirrors positioned on the optical axis X are switched in the order of the mirror 75B and the mirror 75C. A plurality of images can be acquired similarly to the case where 1A is moved in the direction of arrow D. In this case, when the mirrors 75A, 75B, and 75C are positioned on the optical axis X of the imaging system 20, shooting is performed and an image is acquired. Note that the distance between the mirrors 75A, 75B, and 75C is used as the parallel movement amount of the digital camera 1A.

  In the first and second embodiments, the exposure setting unit 53 sets the exposure time of each pixel of the image sensor 27. However, without changing the exposure time, a subject with a large subject distance La is set. The light emission amount of the light emitting unit 41 may be increased so that the reflected light is detected by the image sensor 27.

  In the first and second embodiments, the light emitting unit 41, the optical distance calculating unit 52, and the exposure setting unit 53 are used to perform distance measurement by the TOF method. The third embodiment shown in FIG. As shown in the digital camera 1B according to the embodiment, the light emitting unit 41, the optical distance calculation unit 52, and the exposure setting unit 53 are omitted, and only a function for generating a distance image using the subject distance La calculated by the distance calculation unit 51 is used. It is good also as what has.

  Further, without providing the parallel movement amount acquisition unit 50, only the relative subject distance Lr may be calculated by the distance calculation unit 51.

  Although the digital camera according to the embodiment of the present invention has been described above, the computer functions as means corresponding to the distance calculation unit 51, the optical distance calculation unit 52, and the exposure setting unit 53, as shown in FIG. A program for performing a simple process is also one embodiment of the present invention. A computer-readable recording medium in which such a program is recorded is also one embodiment of the present invention.

1 is a schematic block diagram showing the configuration of a digital camera to which a photographing apparatus according to a first embodiment of the present invention is applied. Diagram for explaining subject recognition Figure for explaining the difference in displacement (Part 1) Diagram for explaining the difference in displacement (Part 2) Diagram showing images before and after moving the digital camera Diagram for explaining calculation of absolute subject distance Figure showing distance image The flowchart which shows the process performed in 1st Embodiment The figure which shows the distance picture which is displayed on the liquid crystal monitor The figure which shows the state where the distance input window is displayed Schematic block diagram showing the configuration of a digital camera to which a photographing apparatus according to a second embodiment of the present invention is applied. Diagram showing the configuration of the moving unit The figure which shows the other structure of a moving part. The figure which shows the structure of the digital camera which image | photographs, moving an imaging system substantially Schematic block diagram showing the configuration of a digital camera to which a photographing apparatus according to a third embodiment of the present invention is applied.

Explanation of symbols

1, 1A, 1B Digital camera 10 Operation system 20 Imaging system 21 Lens 23 Aperture 25 Shutter 27 Imaging element 38 Image processing unit 40 Internal memory 41 Light emitting unit 42 CPU
50 parallel movement amount acquisition unit 51 distance calculation unit 52 optical distance calculation unit 53 exposure setting unit 55 movement unit

Claims (7)

An imaging device that includes an imaging means for acquiring an image by imaging and performs imaging while translating the angle of view,
Control means for controlling the photographing means so as to obtain a plurality of the images by performing photographing a plurality of times while translating the angle of view;
Recognizing a plurality of subjects included in the image, calculating a displacement amount in the plurality of images between the corresponding subjects between the plurality of images, and from the photographing unit based on a magnitude relationship of the displacement amount An imaging apparatus comprising: distance calculation means for calculating a subject distance that is a distance to a plurality of subjects. A translation amount acquisition means for acquiring a translation amount of the photographing means;
The photographing apparatus according to claim 1, wherein the distance calculating unit is a unit that calculates absolute subject distances of the plurality of subjects based on a parallel movement amount of the photographing unit. A moving means for translating the photographing means;
The photographing apparatus according to claim 2, wherein the parallel movement amount obtaining unit is a unit that obtains a parallel movement amount of the photographing unit by the moving unit. An input unit that receives an input of a subject distance of at least one of the plurality of subjects;
2. The photographing according to claim 1, wherein the distance calculating unit is a unit that calculates an absolute subject distance of a subject other than the subject to which the subject distance is input based on the acquired subject distance. apparatus. The plurality of subjects are irradiated with light, reflected light of the light from the subject is detected by the photographing unit, and based on a time from when the light is emitted until the reflected light is detected by the photographing unit. Optical distance calculating means for calculating a subject distance of the plurality of subjects;
5. The exposure apparatus according to claim 1, further comprising an exposure setting unit that sets an exposure of the photographing unit when detecting the reflected light based on the subject distance calculated by the distance calculating unit. The photographing apparatus according to claim 1. A photographing method in a photographing apparatus that includes photographing means for obtaining an image by photographing and performs photographing while translating an angle of view,
Controlling the photographing means to acquire a plurality of the images by performing a plurality of times of photographing while translating the angle of view;
Recognizing a plurality of subjects included in the image;
Calculating a displacement amount in the plurality of images between the corresponding subjects between the plurality of images;
An imaging method comprising: calculating a subject distance, which is a distance from the imaging unit to the plurality of subjects, based on a magnitude relationship of the displacement amount. A program for causing a computer to execute a photographing method in a photographing apparatus that includes photographing means for obtaining an image by photographing and performs photographing while translating an angle of view,
A procedure for controlling the photographing means to acquire a plurality of the images by performing a plurality of photographings while translating the angle of view;
Recognizing a plurality of subjects included in the image;
Calculating a displacement amount in the plurality of images between the corresponding subjects between the plurality of images;
And a procedure for calculating a subject distance, which is a distance from the photographing means to the plurality of subjects, based on the magnitude relationship of the displacement amount.

Images