JP4731953B2 - Imaging apparatus, imaging method, and imaging program - Google Patents

Description

  The present invention relates to an imaging apparatus, an imaging method, and an imaging program.

In recent years, research on technology for recognizing an environment around a vehicle from an image captured by an imaging device provided in a vehicle such as an automobile and assisting driving of the vehicle based on the result has been performed (for example, , See Patent Document 1).
JP-A-8-161698

  When a surrounding image is captured from a moving vehicle, the relative position of the subject as viewed from the vehicle changes during the exposure time, resulting in blurring of the image. Such blurring is reduced by shortening the exposure time, but the amount of light is reduced by shortening the exposure time, so that there is a problem that the quality of the captured image is lowered.

  SUMMARY An advantage of some aspects of the invention is that it provides an imaging apparatus, an imaging method, and an imaging program that can solve the above-described problems. This object is achieved by a combination of features described in the independent claims. The dependent claims define further advantageous specific examples of the present invention.

  In order to solve the above-described problem, in the first embodiment of the present invention, an imaging apparatus includes an imaging unit that captures a plurality of images with different exposure times, and a subject in the image captured by the imaging unit. For each of the plurality of areas, an area detection unit that detects a plurality of areas with different magnitudes of motion, and selects an image with a shorter exposure time among the plurality of images as the movement of the subject in the area increases. An image selection unit that associates with the region, and an image composition unit that extracts the image of the region from the image associated with each of the plurality of regions and combines the extracted images for each of the plurality of regions. Prepare.

  The imaging unit may enlarge the aperture when capturing an image having a shorter exposure time among the plurality of images. The imaging unit may increase the sensitivity when imaging an image having a shorter exposure time among a plurality of images. The imaging device is provided in the moving body to capture an image of the front or rear of the moving body, and the area detection unit detects an area near the center of the image as an area where the movement of the subject is smaller, and the image May be detected as an area where the movement of the subject is larger. The moving body may be a vehicle. The imaging apparatus may further include a display unit that displays the synthesized image. The imaging unit captures more images before and after capturing the plurality of images, and the area detection unit captures the images before and after capturing the plurality of images. The magnitude of the movement of the subject may be detected by comparing the further captured images in each of the images.

  Further, in the second embodiment of the present invention, there is provided an imaging method in which the magnitude of the movement of the subject is different between the imaging stage in which a plurality of images are captured with different exposure times and the image captured in the imaging stage. For each of the plurality of areas, an area detection step for detecting a plurality of areas, and the larger the movement of the subject in the area, the shorter the exposure time is selected from the plurality of images, and the corresponding area is selected. The image selecting step includes an image combining step of extracting an image of the region from the image associated with each of the plurality of regions and combining the extracted images for each of the plurality of regions.

  According to the third aspect of the present invention, there is provided an imaging program for causing an imaging device to function. The imaging device includes an imaging unit that captures a plurality of images with different exposure times, and an image captured by the imaging unit. An area detection unit for detecting a plurality of areas having different magnitudes of movement of the subject, and an image having a shorter exposure time among the plurality of images, as the movement of the subject in the area increases. Image selection unit that associates with the region, and extracts the image of the region from the image associated with each of the plurality of regions, and combines the images extracted for each of the plurality of regions Functioning as an imaging device.

  The above summary of the invention does not enumerate all the necessary features of the present invention, and sub-combinations of these feature groups can also be the invention.

  According to the present invention, a high-quality image can be obtained even when captured from a moving vehicle.

  Hereinafter, the present invention will be described through embodiments of the invention. However, the following embodiments do not limit the invention according to the scope of claims, and all combinations of features described in the embodiments are included. It is not necessarily essential for the solution of the invention.

  FIG. 1 is a block diagram illustrating an example of a configuration of an imaging apparatus 10 according to the present embodiment. The imaging device 10 according to the present embodiment is a so-called in-vehicle camera, and is provided in the vehicle so as to capture an image around the vehicle, for example, the front or rear of the vehicle. And the imaging device 10 aims at providing a user, such as a driver | operator, a high quality image without a blurring by combining the several image imaged with mutually different exposure time.

  The imaging apparatus 10 according to the present embodiment includes an imaging unit 100, a buffer 110, an image processing unit 120, and a display unit 130. The imaging unit 100 includes an optical system 102, a CCD 104, and a signal processing unit 106, and captures an image. The optical system 102 forms an optical image of the subject on the light receiving surface of the CCD 104. The CCD 104 includes a plurality of light receiving elements, and outputs the charges accumulated in each light receiving element by the optical image of the subject formed by the optical system 102 to the signal processing unit 106 as an analog electric signal. The signal processing unit 106 decomposes the analog electric signal indicating the subject image received from the CCD 104 into R, G, and B components. Then, the signal processing unit 106 performs A / D conversion on the analog electrical signal decomposed into R, G, and B components, and outputs digital image data indicating the subject image obtained as a result to the buffer 110. To do.

  The imaging unit 100 captures a plurality of images by repeating the above operation a plurality of times. Here, the imaging unit 100 captures the plurality of images with different exposure times. For example, the imaging unit 100 controls the exposure time by controlling the time from when the charge starts to be accumulated in each of the light receiving elements included in the CCD 104 until the accumulated charge is output to the signal processing unit 106. It's okay. Further, for example, the imaging unit 100 controls the operation of a mechanical shutter included in the optical system 102, and controls the time during which the optical system 102 forms a subject image on the light receiving surface of the CCD 104, thereby exposing the exposure time. May be controlled.

  The buffer 110 temporarily holds a plurality of images captured by the imaging unit 100. The image processing unit 120 performs image processing on a plurality of images held in the buffer 110 and outputs the resulting image to the display unit 130. The image processing unit 120 includes an area detection unit 122, an image selection unit 124, and an image composition unit 126. The region detection unit 122 detects a plurality of regions in the image captured by the imaging unit 100 having different subject movement magnitudes. Then, the region detection unit 122 outputs information indicating the detected plurality of regions to the image selection unit 124.

  The image selection unit 124 captures images of the plurality of regions detected by the region detection unit 122 with different magnitudes of movements of the subject and is captured by the imaging unit 100 and held in the buffer 110 and has different exposure times. Any image selected from a plurality of images is associated. Specifically, for each of the plurality of regions, the image selection unit 124 selects an image having a shorter exposure time from among the plurality of images held by the buffer 110 as the movement of the subject in the region increases. Then, it is associated with the area. Then, the image selection unit 124 outputs information indicating the region and an image associated with the region to the image composition unit 126 for each of the plurality of regions. The image composition unit 126 extracts the image of the region from the image associated with each of the plurality of regions by the image selection unit 124. Then, the image synthesis unit 126 synthesizes the images extracted for each of the plurality of regions into a single image. Then, the image synthesis unit 126 outputs the synthesized image to the display unit 130. The display unit 130 displays the image synthesized by the image synthesis unit 126 and provides it to the user.

  According to the imaging device 10 according to the present embodiment, by associating an image with a shorter exposure time with an area in the image where the movement of the subject is larger, and synthesizing the images associated with the respective areas, It is possible to obtain a high-quality image with no blur throughout the image. In addition, by associating an image with a longer exposure time to an area where the movement of the subject is smaller, it is possible to reduce the deterioration of the image quality due to the short exposure time, thereby obtaining a higher quality image. Can do. Then, by using the high-quality image obtained in this way, driving assistance such as automatic steering of the vehicle can be executed with higher accuracy. In addition, by displaying a blur-free image on the entire image and providing it to the user, the situation around the vehicle can be conveyed to the user more accurately and more quickly.

  FIG. 2 shows an example of an image captured by the image capturing unit 100 according to the present embodiment and an image combined by the image combining unit 126. FIG. 2A shows an image 200 captured by the imaging unit 100. FIG. 2B shows an image 210 picked up by the image pickup unit 100. FIG. 2C shows an image 220 synthesized by the image synthesis unit 126. In this example, the imaging device 10 captures two images, an image 200 and an image 210, and synthesizes the two images. Note that, instead of this, the imaging device 10 may capture and combine three or more images.

  The imaging unit 100 captures the image 200 and the image 210 with different exposure times. In this example, the imaging unit 100 captures each image so that the exposure time of the image 200 is shorter than the exposure time of the image 210. Then, the region detection unit 122 detects a region near the center of the captured image as a region with a smaller subject motion, and detects a region around the image as a region with a larger subject motion. For example, in the image 200, the area detection unit 122 detects the area B inside the frame 202 as an area where the subject's movement is smaller, and sets the area A outside the frame 202 as an area where the subject's movement is larger. To detect. In addition, in the image 210, the area detection unit 122 detects the area D inside the frame 212 as an area where the movement of the subject is smaller, and sets the area C outside the frame 212 as an area where the movement of the subject is larger. To detect.

  Then, the image selection unit 124 associates the image 210 having a longer exposure time with the region near the center of the image detected as a region where the movement of the subject is smaller. Further, the image selection unit 124 associates the image 200 with the shorter exposure time with the peripheral area of the image detected as the area where the movement of the subject is larger. Then, the image composition unit 126 extracts an image of the area near the center, that is, an image of the area D from the image 210. Further, the image composition unit 126 extracts an image of a peripheral area, that is, an image of the area A from the image 200. Then, the image composition unit 126 synthesizes the extracted image of the region D and the image of the region A to obtain an image 220.

  When the imaging device 10 is provided in a vehicle so as to capture the front or rear of the vehicle, the captured image flows in a direction from the vanishing point toward the periphery or from the periphery toward the vanishing point. And the flow of the imaged image becomes larger as it is farther from the vanishing point. In many cases, the imaging device 10 is provided so that the center of the image and the vanishing point substantially coincide with each other while the vehicle is traveling straight, so that in the region near the center of the image, the flow of the image, that is, the exposure time. The movement of the subject inside is smaller, and the flow of the image is larger in the area around the image. Therefore, according to the imaging device 10 according to the present embodiment, an image with a long exposure time is associated with an area near the center of the image, and an image with a short exposure time is associated with an area near the image. By synthesizing, a high-quality image can be obtained with a simple configuration without performing a complicated process of detecting the movement of the subject by image recognition or the like.

  In the above description, the region detection unit 122 detects a region near the center of the image as a region with a smaller subject motion, and detects a region around the image as a region with a larger subject motion. It was. However, instead of this, the area detection unit 122 is configured such that the traveling direction of the vehicle in which the imaging device 10 is provided, the position of the imaging unit 100, the direction of the optical axis in the optical system 102, and the positional relationship between the optical system 102 and the CCD 104. Based on the above, the position of the vanishing point in the image captured by the imaging unit 100 may be calculated, and the area near the vanishing point may be detected as an area where the movement of the subject is smaller. In this case, the region detection unit 122 may calculate the traveling direction of the vehicle based on, for example, a steering angle in steering provided in the vehicle.

  FIG. 3 shows another example of an image captured by the imaging unit 100 according to the present embodiment. In this example, the imaging device 10 captures two images, an image 310 and an image 320, and synthesizes the two images. Note that, instead of this, the imaging device 10 may capture and combine three or more images. The imaging unit 100 in this example captures the image 310 and the image 320 with different exposure times. For example, the imaging unit 100 captures each image so that the exposure time of the image 310 is shorter than the exposure time of the image 320. Further, the imaging unit 100 captures the image 300 before capturing the image 310 and the image 320, and captures the image 330 after capturing the image 310 and the image 320.

  Then, the area detection unit 122 detects the magnitude of the movement of the subject by comparing the image 300 and the image 330. For example, the region detection unit 122 uses the well-known cross-correlation method or the like for the image 300 and the image 330, and from the image 300 to the image 330 in each of a plurality of subjects included in both the image 300 and the image 330. Change of position is detected. Then, the area detection unit 122 divides the image into a plurality of areas, and sets the magnitude of the movement of the subject in each of the plurality of areas as the magnitude of the change in position detected for the subject included in the area. Here, the plurality of regions may be, for example, regions obtained by dividing an image into m in the vertical direction and n in the horizontal direction. In addition, the area detection unit 122 determines the position in the image of each of the plurality of subjects from which the change in position is detected as an intermediate position of the position of the subject in each of the images 300 and 330. It may be determined which subject is included in each.

  Then, for each of the plurality of areas, the image selection unit 124 selects an image 310 having a shorter exposure time when the magnitude of the movement of the subject in the area is equal to or greater than a predetermined reference value. In addition to associating with the area, if the magnitude of movement of the subject in the area is equal to or less than a predetermined reference value, an image 320 having a longer exposure time is selected and associated with the area. Here, the predetermined reference value may be a value determined by the manufacturer or user of the imaging device 10 based on the exposure time of the image 310 and the image 320, for example. Then, the image composition unit 126 extracts the image of the region from the images associated with each of the plurality of regions, and composites the extracted images into one image.

  According to the imaging device 10 according to the present embodiment, by detecting the movement of the subject from the captured image, the imaging device 10 is not imaging the front or rear in the traveling direction of the vehicle, or is stationary. Even when the imaging device 10 captures a subject moving in an arbitrary direction, the magnitude of the subject's movement can be detected for each region of the image. A high-quality image can be obtained by selecting and synthesizing a non-blurred image for each region of the image based on the detected movement of the subject. In addition, by detecting the movement of the subject using at least two images captured before and after the image to be combined, the at least two images are imaged together before the image to be combined, or In both cases, it is possible to detect the movement of the subject in the image to be combined with higher accuracy than in the case of imaging after the image to be combined. Furthermore, since at least two images captured before and after the image to be combined have a longer imaging interval than at least two images to be combined, the movement of the subject can be detected with higher accuracy.

  In addition, it is preferable that the image picked up to detect the movement of the subject is picked up with the shortest possible exposure time, for example, within the range where the subject included in both images can be recognized. Thereby, it is possible to further reduce the time required to capture an image necessary for generating one composite image.

  In the above description, the imaging apparatus 10 detects the movement of the subject using images taken before and after the image to be combined. However, instead of this, the imaging apparatus 10 may detect the movement of the subject using another image. For example, the imaging device 10 may detect the movement of the subject using at least two images to be combined. Further, when the imaging device 10 continues to update the image to be displayed at a frequency of 30 frames per second or the like, the imaging device 10 captures only at least two images to be combined as the frame image for each frame image. At the same time, when one frame image is synthesized, one of the images to be synthesized as the frame image displayed immediately before is compared with one of the images to be synthesized as the frame image displayed immediately after that. The magnitude of the movement of the subject in the image to be synthesized as the frame image may be detected. Thereby, since the number of images to be captured can be reduced, images can be displayed at a higher frame rate.

  FIG. 4 is a flowchart illustrating an example of a process flow in an imaging method using the imaging apparatus 10 according to the present embodiment. First, the imaging unit 100 captures a plurality of images with different exposure times (S1000). Here, the imaging unit 100 may enlarge the aperture when capturing an image having a shorter exposure time among a plurality of images. Further, the imaging unit 100 may increase the sensitivity when capturing an image having a shorter exposure time among a plurality of images. Thereby, even when the exposure time is short, it is possible to reduce the influence of a decrease in the amount of light and capture a higher quality image.

  In addition, the imaging unit 100 may sequentially capture the plurality of images, and instead may capture the plurality of images substantially simultaneously. For example, the imaging unit 100 does not set the time from when charges are accumulated in the light receiving element until the accumulated charges are read out in the CCD 104 as a constant time for all pixels, but different times for each pixel. By doing so, a plurality of images may be taken substantially simultaneously.

  Subsequently, the region detection unit 122 detects a plurality of regions in the image captured by the image capturing unit 100 that have different subject motion magnitudes (S1010). Subsequently, for each of the plurality of regions, the image selection unit 124 selects an image having a shorter exposure time from the plurality of captured images as the subject movement in the region increases, Correlate (S1020). Subsequently, the image composition unit 126 extracts the image of the region from the image associated with each of the plurality of regions by the image selection unit 124, and combines the images extracted for each of the plurality of regions (S1030). ). Here, the image composition unit 126 may perform image processing such as enlargement, reduction, trimming, and color adjustment on each image in order to smoothly connect the boundaries of the extracted images. Subsequently, the display unit 130 displays the image synthesized by the image synthesis unit 126 and provides it to the user (S1040).

  In the above description, the imaging device 10 is provided in the vehicle. However, instead of this, the imaging device 10 may be provided in another moving body and image the surroundings of the other moving body. For example, the imaging device 10 may be provided in an endoscope. Thereby, when inspecting an internal organ or tissue using an endoscope, even if the endoscope is moved, a high-quality image without blurring can be obtained. Furthermore, the imaging unit 100 may be provided on a stationary object instead of being provided on the moving body.

  FIG. 5 is a block diagram illustrating an example of a hardware configuration of a computer 1500 according to the present embodiment. A computer 1500 according to the embodiment of the present invention is connected to a CPU peripheral unit including a CPU 1505, a RAM 1520, a graphic controller 1575, and a display device 1580 connected to each other by a host controller 1582, and to the host controller 1582 by an input / output controller 1584. An input / output unit having a communication interface 1530, a hard disk drive 1540, and a CD-ROM drive 1560, and a legacy input / output unit having a ROM 1510, a flexible disk drive 1550, and an input / output chip 1570 connected to the input / output controller 1584. Prepare.

  The host controller 1582 connects the RAM 1520 to the CPU 1505 and the graphic controller 1575 that access the RAM 1520 at a high transfer rate. The CPU 1505 operates based on programs stored in the ROM 1510 and the RAM 1520 and controls each unit. The graphic controller 1575 acquires image data generated by the CPU 1505 or the like on a frame buffer provided in the RAM 1520 and displays the image data on the display device 1580. Alternatively, the graphic controller 1575 may include a frame buffer that stores image data generated by the CPU 1505 or the like.

  The input / output controller 1584 connects the host controller 1582 to the hard disk drive 1540, the communication interface 1530, and the CD-ROM drive 1560, which are relatively high-speed input / output devices. The hard disk drive 1540 stores programs and data used by the CPU 1505 in the computer 1500. The communication interface 1530 communicates with the imaging device 10 via a network, and provides programs and data to the imaging device 10. The CD-ROM drive 1560 reads a program or data from the CD-ROM 1595 and provides it to the hard disk drive 1540 and the communication interface 1530 via the RAM 1520.

  The input / output controller 1584 is connected to the ROM 1510, the flexible disk drive 1550, and the relatively low-speed input / output device of the input / output chip 1570. The ROM 1510 stores a boot program executed when the computer 1500 is started up, a program depending on the hardware of the computer 1500, and the like. The flexible disk drive 1550 reads a program or data from the flexible disk 1590 and provides it to the hard disk drive 1540 and the communication interface 1530 via the RAM 1520. The input / output chip 1570 connects various input / output devices via the flexible disk drive 1550 and, for example, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

  The imaging program provided to the communication interface 1530 via the RAM 1520 is stored in a recording medium such as the flexible disk 1590, the CD-ROM 1595, or an IC card and provided by the user. The imaging program is read from the recording medium, provided to the communication interface 1530 via the RAM 1520, and transmitted to the imaging device 10 via the network. The imaging program transmitted to the imaging device 10 is installed and executed in the imaging device 10. An imaging program that is installed and executed in the imaging apparatus 10 causes the imaging apparatus 10 to function as the imaging apparatus 10 described with reference to FIGS. 1 to 4.

  The program shown above may be stored in an external storage medium. As the storage medium, in addition to the flexible disk 1590 and the CD-ROM 1595, an optical recording medium such as a DVD or PD, a magneto-optical recording medium such as an MD, a tape medium, a semiconductor memory such as an IC card, or the like can be used. Further, a storage device such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet may be used as a recording medium, and the program may be provided to the computer 1500 via the network.

  As mentioned above, although this invention was demonstrated using embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. It will be apparent to those skilled in the art that various modifications or improvements can be added to the above-described embodiment. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

It is a block diagram showing an example of composition of imaging device 10 concerning an embodiment of the present invention. It is a figure which shows an example of the image imaged by the imaging part 100 which concerns on embodiment of this invention, and the image synthesize | combined by the image synthetic | combination part 126. FIG. It is a figure which shows the other example of the image imaged by the imaging part 100 which concerns on embodiment of this invention. It is a flowchart which shows an example of the flow of a process in the imaging method using the imaging device 10 which concerns on embodiment of this invention. It is a block diagram which shows an example of the hardware constitutions of the computer 1500 concerning embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Imaging device, 100 Imaging part, 102 Optical system, 104 CCD, 106 Signal processing part, 110 Buffer, 120 Image processing part, 122 Area | region detection part, 124 Image selection part, 126 Image composition part, 130 Display part

Claims (13)

An imaging device provided in the moving body to capture an image of the front or rear of the moving body,
An imaging unit that captures a plurality of images with different exposure times;
An area detection unit for detecting a plurality of areas in which the magnitude of movement of the subject in the image captured by the imaging unit is different;
For each of the plurality of regions, the larger the movement of the subject in the region, the more the image selection unit that selects an image having a shorter exposure time from the plurality of images and associates the image with the region.
An image combining unit that extracts an image of the region from an image associated with each of the plurality of regions and combines the extracted images for each of the plurality of regions ;
The imaging device detects an area near the center of the image as an area where the movement of the subject is smaller, and detects an area around the image as an area where the movement of the subject is larger . An imaging device provided in the moving body to capture an image of the front or rear of the moving body,
An imaging unit that captures a plurality of images with different exposure times;
An area detection unit for detecting a plurality of areas in which the magnitude of movement of the subject in the image captured by the imaging unit is different;
For each of the plurality of regions, the larger the movement of the subject in the region, the more the image selection unit that selects an image having a shorter exposure time from the plurality of images and associates the image with the region.
An image synthesizing unit that extracts an image of the area from an image associated with each of the plurality of areas and combines the extracted images for each of the plurality of areas;
With
The imaging unit further captures images before capturing the plurality of images and after capturing the plurality of images,
The area detection unit detects the magnitude of the movement of the subject by comparing the images further captured before the plurality of images are captured and after the plurality of images are captured.
Imaging device. An imaging device provided in the moving body to capture an image of the front or rear of the moving body,
An imaging unit that captures a plurality of images with different exposure times;
An area detection unit for detecting a plurality of areas in which the magnitude of movement of the subject in the image captured by the imaging unit is different;
For each of the plurality of regions, the larger the movement of the subject in the region, the more the image selection unit that selects an image having a shorter exposure time from the plurality of images and associates the image with the region.
An image synthesizing unit that extracts an image of the area from an image associated with each of the plurality of areas and combines the extracted images for each of the plurality of areas;
With
The area detection unit calculates the position of the vanishing point in the image captured by the imaging unit, detects the area of the image including the position of the vanishing point as an area where the movement of the subject is smaller, and is detected. The area of the image other than the area is detected as an area where the movement of the subject is larger.
Imaging device. The region detecting unit calculates the position of the vanishing point based on a traveling direction of the moving body based on a steering angle in a steering provided on the moving body.
The imaging device according to claim 3. The imaging device according to any one of claims 1 to 4, wherein the imaging unit further increases a diaphragm when capturing an image having a shorter exposure time among the plurality of images. The imaging device according to any one of claims 1 to 5, wherein the imaging unit increases sensitivity when capturing an image having a shorter exposure time among the plurality of images. The imaging apparatus according to claim 1 , wherein the moving body is a vehicle. The imaging apparatus according to claim 1 , further comprising a display unit that displays the synthesized image. An imaging stage in which an imaging unit provided in the moving body to capture an image of the front or rear of the moving body captures a plurality of images with different exposure times; and
A region detection step of detecting a plurality of regions having different magnitudes of movement of the subject in the image captured in the imaging step;
For each of the plurality of regions, the larger the movement of the subject in the region, the more the image selection step of selecting an image having a shorter exposure time from the plurality of images and associating the image with the region.
An image combining step of extracting an image of the region from an image associated with each of the plurality of regions and combining the extracted images for each of the plurality of regions ;
The imaging method of detecting an area near the center of the image as an area where the movement of the subject is smaller and detecting an area around the image as an area where the movement of the subject is larger in the area detection step . An imaging stage in which an imaging unit provided in the moving body to capture an image of the front or rear of the moving body captures a plurality of images with different exposure times; and
A region detection step of detecting a plurality of regions having different magnitudes of movement of the subject in the image captured in the imaging step;
For each of the plurality of regions, the larger the movement of the subject in the region, the more the image selection step of selecting an image having a shorter exposure time from the plurality of images and associating the image with the region.
An image combining step of extracting an image of the area from an image associated with each of the plurality of areas and combining the extracted images for each of the plurality of areas;
With
In the imaging step, before capturing the plurality of images and after capturing the plurality of images, further images are captured,
In the region detection step, the magnitude of the movement of the subject is detected by comparing the further captured images before the plurality of images are captured and after the plurality of images are captured.
Imaging method. An imaging stage in which an imaging unit provided in the moving body to capture an image of the front or rear of the moving body captures a plurality of images with different exposure times; and
A region detection step of detecting a plurality of regions having different magnitudes of movement of the subject in the image captured in the imaging step;
For each of the plurality of regions, the larger the movement of the subject in the region, the more the image selection step of selecting an image having a shorter exposure time from the plurality of images and associating the image with the region.
An image combining step of extracting an image of the area from an image associated with each of the plurality of areas and combining the extracted images for each of the plurality of areas;
With
In the area detection step, the position of the vanishing point in the image captured by the imaging unit is calculated, and the area of the image including the position of the vanishing point is detected and detected as an area where the movement of the subject is smaller. The area of the image other than the area is detected as an area where the movement of the subject is larger.
Imaging method. In the region detection stage, the position of the vanishing point is calculated based on a traveling direction of the moving body based on a steering angle in a steering provided on the moving body.
The imaging method according to claim 11. An imaging program for causing a computer to execute each stage included in the imaging method according to any one of claims 9 to 12.

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