JP5440903B2 - Imaging device, stereo camera device, and vehicle exterior monitoring device - Google Patents

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an imaging device and a stereo camera device that are mounted on a vehicle such as an automobile to capture information outside the vehicle, or that are incorporated in a mobile phone or the like to capture various information, and a vehicle exterior monitoring device that uses the imaging device. is there.

  Patent Documents 1 and 2 disclose an imaging apparatus that uses an imaging lens in which an imaging region is divided in order to simultaneously capture a short-distance object and a long-distance object. In the imaging lens disclosed in Patent Document 1, the linear lower edge of the semicircular first lens unit is in contact with the linear upper edge of the semicircular second lens unit. Two types of lenses having different focal lengths are arranged and bonded together. Then, the focal length of the first lens unit is set to 5 mm, for example, and the focal length of the second lens unit is set to 4.3 mm. In the imaging lens disclosed in Patent Document 2, the first lens having a small aperture is joined to the center of the surface of the second lens on the subject side, and the radius of curvature of the surface of the first lens on the subject side is set as the joint surface. It is smaller than the radius of curvature.

  In addition, in order to accurately detect the three-dimensional positions of a long-distance subject and a short-distance subject, the vehicle exterior monitoring device disclosed in Patent Document 3 is a short-distance set of two stereo cameras and a short-distance subject. A total of four CCD cameras, including two sets of stereo cameras, are mounted on the vehicle, using a long-distance stereo camera and a short-distance stereo camera at the same time, and simultaneously detecting a wide range of subjects. Increases distance detection accuracy at long distances. With this out-of-vehicle monitoring device, the distance detection accuracy at long distance improves as the focal distance of the stereo camera for long distance increases, and the angle of view increases as the focal distance of the stereo camera for short distance decreases. The range becomes wider. Since the distance detection accuracy of a stereo camera is determined by the focal length and the base line length between the two cameras, the focal length of the long-distance lens is short-range when considering the balance between the downsizing of the device and the distance detection accuracy at a long distance. An appropriate value is about 1.5 to 3 times the focal length of the lens.

  A single lens having a large focal length for a long distance and a short distance also has a greatly different back focus. Therefore, as shown in Patent Document 1, an imaging lens in which two lenses are divided and bonded at the center, or a patent As shown in Document 2, it is difficult to increase the difference between the focal lengths of two types of lenses with an imaging lens in which another lens is joined to the center of the surface on the subject side of one lens. The subject could not be accurately imaged over a wide range of short distances.

  Further, as shown in Patent Document 3, since a total of four CCD cameras are used for a long-distance stereo camera and a short-distance stereo camera, the number of image pickup devices increases and the cost increases. At the same time, an increase in volume due to an increase in the number of lens barrels is a problem.

  Furthermore, since it is difficult to obtain a sufficient difference in focal length when configured by one image pickup element corresponding to one divided single lens, the image pickup lenses described in Patent Document 1 and Patent Document 2 are used. Even if a stereo camera that captures an object for a long distance and a short distance is configured, it is difficult to apply to a vehicle outside monitoring apparatus that needs to image an object in a wide distance range of a long distance and a short distance.

  The present invention eliminates such problems, reduces the number of image sensors, and uses an imaging device and a stereo camera device that can accurately image a subject in a wide distance range of a long distance and a short distance, and the same. The object is to provide an out-of-vehicle monitoring device.

The imaging apparatus according to the present invention has a common diaphragm for a long-distance imaging lens system, a short-distance imaging lens system, and the long-distance imaging lens system and the short-distance imaging lens system. , said imaging apparatus for imaging a single image sensor light which has passed through the imaging lens system and the imaging lens system for the near for long range, the imaging lens system for the long distance short range Each of the imaging lens systems for use is composed of a plurality of semicircular lenses, and the principal ray of the long-distance imaging lens system and the principal ray of the short-distance imaging lens system are subjects than the diaphragm, respectively. Each passing through different areas positioned so as to sandwich a common optical axis extending linearly from the image sensor to the subject side in each of the space on the image sensor side and the space on the image sensor side relative to the diaphragm. intersect each other at the center of the , And each lens of the imaging lens system for the long distance and the lenses of the imaging lens system for the short distance are arranged along the optical axis, an imaging lens system for the long range, the long distance object An image is formed on either the upper half or the lower half of the optical axis of the image pickup device of the image pickup device, and the short-distance image pickup lens system converts an image of a short-distance subject to the image pickup device. An image is formed in either the lower half or the upper half of the optical axis of the imaging apparatus.

  The long-distance imaging lens system includes a front lens closer to the subject than the diaphragm and a rear lens closer to the imaging element than the diaphragm. The front lens of the long-distance imaging lens system includes the imaging device. The rear lens of the long-distance imaging lens system is arranged in the lower half of the optical axis of the imaging device, and the short-distance imaging lens system is A front lens on the subject side and a rear lens on the imaging element side with respect to the aperture; the front lens of the short-distance imaging lens system is disposed in a lower half of the optical axis of the imaging device; The rear lens of the imaging lens system for use is arranged in the upper half of the optical axis of the imaging device.

  Further, on the optical axis between the front lens of the long-distance imaging lens system and the front lens of the short-distance imaging lens system, the rear lens of the long-distance imaging lens system, and the short-distance lens And a light-shielding member on the optical axis at the boundary of the rear lens of the imaging lens system.

  Further, the present invention is characterized in that a common lens that commonly constitutes the long-distance imaging lens system and the short-distance imaging lens system is provided before and after the stop.

  In addition, a common aperture is disposed on the subject side of the long-distance imaging lens system and the short-distance imaging lens system for the long-distance imaging lens system and the short-distance imaging lens system, or A common stop may be arranged in the far-distance imaging lens system and the short-distance imaging lens system on the imaging element side of the long-distance imaging lens system and the short-distance imaging lens system. .

  The stereo camera device of the present invention is characterized in that the imaging device is provided at a predetermined distance.

  A vehicle exterior monitoring apparatus according to the present invention includes the stereo camera device, an image processing computer, and a display device, and is mounted on a vehicle. The stereo camera device is an image of a subject at a long distance and a short distance located in front of the vehicle. The image processing computer calculates distance distribution information from a long-distance and short-distance subject imaged by the stereo camera device to a long-distance and short-distance subject, and from the calculated distance distribution information The road shape and the positions of a plurality of three-dimensional objects are detected and displayed on the display device.

  The imaging apparatus according to the present invention includes a long-distance imaging lens system and a short-distance imaging lens system configured by a plurality of semicircular lenses. The long-distance imaging lens system and the short-distance imaging lens system are arranged so that the chief rays of the imaging lens system intersect at the center of the stop. The image of the subject is imaged in the half area of the image sensor, and the image of the near object is imaged in the half area of the image sensor with the short-distance imaging lens system. The image for short distance and the image for short distance can be prevented from interfering with each other, and a high-quality image for long distance and a short distance image can be obtained, and a small-sized imaging device for both near and far can be obtained.

  The long-distance imaging lens system is composed of a front lens closer to the subject than the aperture and a rear lens closer to the imaging element than the aperture, and the front lens of the long-distance imaging lens system is half above the optical axis of the imaging device. The rear lens of the long-distance imaging lens system is arranged in the lower half of the optical axis of the imaging device, and the short-distance imaging lens system is arranged on the imaging element side of the front lens on the subject side from the diaphragm and the diaphragm. Consists of a rear lens, the front lens of the short-distance imaging lens system is arranged in the lower half of the optical axis of the imaging device, and the rear lens of the short-distance imaging lens system is in the upper half of the optical axis of the imaging device Therefore, it is possible to reliably prevent the long-distance image and the short-distance image obtained by the image sensor from interfering with each other.

  Further, on the optical axis at the boundary between the front lens of the long-distance imaging lens system and the front lens of the short-distance imaging lens system, the rear lens of the long-distance imaging lens system, and the short-distance imaging lens system By providing a light blocking member on the optical axis at the boundary of the rear lens, the light passing through the long-distance imaging lens system is incident on the short-distance imaging lens system or the short-distance imaging lens system By preventing the light passing therethrough from entering the long-distance imaging lens system, it is possible to obtain a dual-purpose small-sized imaging apparatus with little flare.

  In addition, a common lens composing both a long-distance imaging lens system and a short-distance imaging lens system is provided before and after the aperture, or a long-distance imaging lens system and a short-distance imaging lens system subject. By arranging a common diaphragm on the side, or by arranging a common diaphragm on the imaging element side of the long-distance imaging lens system and the short-distance imaging lens system, the amount of light passing through the common diaphragm is increased, An imaging device having a brighter optical system can be obtained.

  Moreover, the stereo camera device provided with the imaging devices of the present invention separated by a predetermined distance can obtain a highly accurate stereo image over a wide distance range.

  In addition, by using the stereo camera device of the present invention in an out-of-vehicle monitoring device mounted on a vehicle, a stereo image of a long-distance subject and a short-distance subject can be obtained, and a high-precision distance over a wide distance range Measurements can be made.

It is a block diagram of the imaging device of this invention. It is a block diagram of the outside monitoring apparatus of this invention. It is an arrangement plan of an outside monitoring device. It is a schematic diagram which shows a parallax calculation process. It is a block diagram of the 2nd imaging device of this invention. It is a block diagram of the 3rd imaging device of this invention. It is a block diagram of the 4th imaging device of this invention. It is a block diagram of the 5th imaging device of this invention. It is a block diagram of the 6th imaging device of this invention. It is a block diagram of the imaging lens which integrated the imaging lens system for long distances, and the lens of the imaging lens system for short distances.

  FIG. 1 is a configuration diagram of an imaging apparatus according to the present invention. As shown in the figure, the image pickup apparatus 1 includes two image pickup lens systems 3 and 4, a diaphragm 5, and an image pickup element 6 that are provided in one housing 2 and have different focal lengths. The light transmitted through 4 is imaged on one image sensor 6 to capture two types of images. The imaging lens systems 3 and 4 are each composed of a plurality of semicircular lenses, the imaging lens system 3 is for a long distance with a long back focal length, and the imaging lens system 4 is for a short distance with a short back focal length. is there.

  The front lens 31 on the subject side of the long-distance imaging lens system 3 is disposed in the lower half of the optical axis of the lens holder 21 of the housing 2, and the rear lens 32 on the imaging element 6 side is aligned with the optical axis of the lens holder 21. The front lens 41 on the subject side of the short-distance imaging lens system 4 is arranged in the upper half of the optical axis of the lens holder 21, and the rear lens 42 on the imaging element 6 side is the light of the lens holder 21. It is placed in the lower half of the axis. A common diaphragm 5 is provided between the front lenses 31 and 41 and the rear lenses 32 and 42. The long-distance imaging lens 3 and the short-distance imaging lens 4 have different curvature radii above and below the optical axis, and the focal lengths of the imaging lens system 3 and the imaging lens system 4 are changed. Yes. The front lens 31 and the rear lens of the long-distance imaging lens system 3 so that the principal ray of the long-distance imaging lens system 3 and the principal ray of the short-distance imaging lens system 4 intersect at the center of the diaphragm 5. 32, and a front lens 41 and a rear lens 42 of the short-distance imaging lens system 4 are arranged.

The light transmitted through the long-distance imaging lens system 3 in this imaging apparatus 1 forms an image in the upper half area of the imaging element 6, and the light transmitted through the short-distance imaging lens system 4 is the lower half of the imaging element 6. focused on the area, it is possible to obtain an image for the image and a short distance for far in one imaging element 6. When the image sensor 6 obtains images for long distance and short distance, the principal ray of the imaging lens system 3 for long distance and the principal ray of the imaging lens system 4 for short distance intersect at the center of the diaphragm 5. It is possible to prevent the long-distance image and the short-distance image obtained by the image sensor 6 from interfering with each other, and to obtain a high-quality long-distance image and a short-distance image.

  A case will be described in which the imaging device 1 that obtains images for long distances and short distances with a single imaging element 6 is used in, for example, an outside monitoring device mounted on a vehicle such as an automobile. As shown in the configuration diagram of FIG. 2, the vehicle exterior monitoring device 10 includes a stereo camera device 11 having two imaging devices 1 a and 1 b arranged at a predetermined distance, an image processing computer 12, and a display device 13. As shown in the layout diagram of FIG. 3, the stereo camera device 11 is disposed at a position that does not obstruct the driver's field of view, such as a rear stage of the vehicle 14, and the object such as a preceding person or a pedestrian located in front of the vehicle 14. Take an image. The display device 13 is disposed in front of the driver. The outside monitoring apparatus 10 calculates distance distribution information by processing an image captured by the imaging devices 1a and 1b of the stereo camera apparatus 11 with an image processing computer 12, and calculates a road shape and a plurality of three-dimensional images from the calculated distance distribution information. When the position of an object is detected at high speed, a preceding vehicle or an obstacle is identified based on the detection result, a collision warning judgment process is performed, and the like, and the recognized object becomes an obstacle of the own vehicle 14, a display device In addition to displaying a warning to the driver 13 and giving a warning to the driver, it is possible to avoid an automatic collision by controlling actuators (not shown).

  The processing will be described when an image of a subject in front of the vehicle 14 is taken by the vehicle exterior monitoring device 10 using the stereo camera device 11 and the distance to the subject is measured. When imaging is started with the stereo camera device 11, light transmitted through the front lens 31a and the rear lens 32a of the long-distance imaging lens system 3a of the imaging device 1a disposed on the right side of the stereo camera device 11 is transmitted to the imaging device 6a. An image is formed in the upper half region, and a right image of a subject at a long distance is output from the image sensor 6a to the image processing computer 12, and the front lens 41a and the rear lens of the short-distance imaging lens system 4a of the imaging device 1a. The light transmitted through 42a forms an image in the lower half region of the image sensor 6a, and a right image of a subject at a short distance is output from the image sensor 6a to the image processing computer 12.

  The light transmitted through the front lens 31b and the rear lens 32b of the long-distance imaging lens system 3b of the imaging device 1b arranged on the left side of the stereo camera device 11 forms an image in the upper half area of the imaging device 6b. The left image of the long-distance subject is output from the image sensor 6b to the image processing computer 12, and the light transmitted through the front lens 41b and the rear lens 42b of the short-distance imaging lens system 4b of the imaging device 1b is captured by the image sensor. An image is formed in the lower half region of 6b, and the right image of the subject at a short distance is output from the image sensor 6b to the image processing computer 12.

  The image processing computer 11 detects the parallax of the long-distance subject based on the right image of the long-distance subject imaged by the imaging device 1a and the left image of the long-distance subject imaged by the imaging device 1b. The parallax of the short-distance subject is detected based on the right image of the short-distance subject imaged in step 1 and the left image of the short-distance subject imaged by the imaging device 1b. The distance to the long-distance subject is calculated based on the detected parallax of the long-distance subject based on the equation (1) described later, and the distance to the short-distance subject is calculated based on the parallax of the short-distance subject based on the equation (1). Then, a long-distance image indicating the calculated long-distance measurement result and short-distance measurement result and a short-distance image are displayed on the display device 13.

An example of the right image 15a and the left image 15b of the captured long-distance subject is shown in FIG. The image processing computer 12 cuts out the effective areas of the right image 15a and the left image 15b captured by the stereo camera device 11, and pays attention to the minute area 16a of the right image 15a and the corresponding minute area 16b of the left image 15b. The parallax S of the subject in the areas 16a and 16b is calculated. Since the parallax S occurs only in the horizontal direction, the horizontal parallax S may be calculated here. The parallax S is obtained in units of pixels (pixels). Between the distance A and the parallax S between the stereo camera device 11 and the subject, as shown in FIG. 4B, the base line length B, which is the distance between the imaging device 1a and the imaging device 1b, and imaging for a long distance The following equation (1) is established from the focal length f of the lens systems 3a and 3b.
S = B · f / A · δ (1)
Here, δ is the pixel size of the image sensors 6a and 6b. Since the focal length f, baseline length B, and pixel size δ of the imaging lens systems 3a and 3b are known in advance, the distance A to the subject can be calculated by calculating the parallax S from the right image 15a and the left image 15b. it can.

  Thus, when calculating the distance to the subject, the right image 15a captured by the image capturing device 1a and the left image 15b captured by the image capturing device 1b are used. Therefore, the baseline length B can be freely set, so that the distance measurement performance Accordingly, the arrangement of the imaging device 1a and the imaging device 1b of the stereo camera device 11 can be optimally designed.

  When the surface distance of the long-distance imaging lens system 3 and the surface distance of the short-distance imaging lens system 4 are greatly different in the imaging apparatus 1, the long-distance imaging lens system 3 is passed. Light is incident on the short-distance imaging lens system 4 on the opposite side across the optical axis, and conversely, the light passing through the short-distance imaging lens system 4 is on the opposite side across the optical axis May enter the imaging lens system 3 for use. In this way, the light incident on the short-distance imaging lens system 4 through the long-distance imaging lens system 3 or the light incident on the long-distance imaging lens system 3 through the short-distance imaging lens system 4. Does not form an image on the image sensor 6 and causes a distance measurement error that causes flare. Therefore, a light shielding plate 7 is adhered between the front lens 31 of the long-distance imaging lens system 3 and the front lens 41 of the short-distance imaging lens system 4, and the rear lens 32 of the long-distance imaging lens system 3 A light shielding plate 7 is bonded between the rear lens 42 of the short-distance imaging lens system 4 and the light shielding plate 7 is placed on the optical axis at the boundary between the long-distance imaging lens system 3 and the short-distance imaging lens system 4. So that light can pass up and down the optical axis plane at the position of the diaphragm 5. In this way, the light passing through the long-distance imaging lens system 3 enters the short-distance imaging lens system 4, and the light passing through the short-distance imaging lens system 4 is long-distance imaging lens system. By preventing the light from entering 3, the small-sized imaging device 1 for both near and far with less flare can be obtained.

  Further, in the optical system in which the common diaphragm 5 is provided between the front lenses 31 and 41 and the rear lenses 32 and 42 of the imaging lens system 3 for the long distance and the imaging lens system 4 for the short distance, other than the vicinity of the principal ray. The light is kicked by the light shielding plate 7 to reduce the amount of light, and the captured image becomes dark. Therefore, as shown in the configuration diagram of FIG. 6, common lenses 17 a and 17 b for long distance and short distance are provided before and after the diaphragm 5 to increase the amount of light passing through the diaphragm 5. Thus, the imaging device 1 having a brighter optical system can be obtained. Further, a plurality of lenses having different radii of curvature are provided on the front lens 31 and the rear lens 32 of the long-distance imaging lens system 3 and the front lens 41 and the rear lens 42 of the short-distance imaging lens system 4, The long-distance imaging lens system 3 includes a front lens 31 composed of a plurality of lenses having different radii of curvature, a common lens 17a, 17b, and a rear lens 32 composed of a plurality of lenses having different radii of curvature. By configuring the lens system 4 with a front lens 41 composed of a plurality of lenses having different curvature radii, a common lens 17a, 17b, and a rear lens 42 composed of a plurality of lenses having different curvature radii, the amount of light passing through the diaphragm 5 is further increased. be able to.

  A short-distance imaging lens system 3 composed of the front lens 31, the common lenses 17a, 17b, and the rear lens 32, and a near-distance lens composed of the front lens 41, the common lenses 17a, 17b, and the rear lens 42. An example of lens data of the imaging lens system 4 is shown in Table 1 below. In Table 1, the curved surface numbers indicate the order of the curved surfaces from the subject side constituting the long-distance imaging lens system 3 and the short-distance imaging lens system 4. This lens data shows the shape of each curved surface, the radius of curvature, the surface spacing, the refractive index, and the Abbe number.

  The long-distance imaging lens 3 is composed of the front lens 31 of the lens data shown in Table 1, the common lenses 17a and 17b, and the rear lens 32, and the short-distance imaging lens 4 is the front lens of the lens data shown in Table 1. 41, the common lenses 17a and 17b, and the rear lens 42, a long-distance imaging lens system 3 having a focal length of 10 mm and a half angle of view ω of 15.2 degrees, a focal length of 5 mm, and a half angle of view ω. The FNo can be reduced to 2.8 with the short-distance imaging lens system 4 of 28.5 degrees.

  Further, as shown in the configuration diagram of FIG. 7, only the positions of the long-distance imaging lens group 33 and the short-distance imaging lens group 43 are changed, and imaging is performed in addition to the common lenses 17 a and 17 b provided before and after the diaphragm 5. Common lenses 17c and 17d are provided on the subject side of the front side of the lens groups 33 and 43, a common lens 17e is provided on the rear side of the common lens 17b on the rear side of the diaphragm 5, and the imaging lens system 3 for long distance is used as the common lens 17c, 17d, the imaging lens group 33, and the common lenses 17a, 17b, and 17e. The short-distance imaging lens system 4 is configured by the common lenses 17c and 17d, the imaging lens group 43, and the common lenses 17a, 17b, and 17e. By increasing the amount of light passing through 5, a brighter optical system can be realized.

  An example of lens data of the long-distance imaging lens system 3 and the short-distance imaging lens system 4 shown in the configuration diagram of FIG.

  The long-distance imaging lens system 3 composed of the lens data shown in Table 2 has a focal length of 25.8 mm and a half angle of view ω of 6.1 degrees, and the short-distance imaging lens system 4 has a focal length of 15.5 mm. The half field angle ω was 10.1 degrees, the FNo could be 1.68, and the imaging device 1 having a bright optical system could be obtained.

  Further, as shown in the configuration diagram of FIG. 8, a common diaphragm 5 for the long-distance imaging lens system 3 and the short-distance imaging lens system 4 may be arranged on the subject side. Also in this case, the upper half of the optical axis is an imaging lens system 3 for a long distance and the lower half of the optical axis is an imaging lens system 4 for a short distance, which is close to the principal ray of the imaging lens system 3 for a long distance. The principal ray of the imaging lens system for distance intersects through the center of the diaphragm 5, and the light transmitted through the imaging lens system 3 for long distance forms an image in the upper half area of the imaging element 6, and imaging for short distance. The light transmitted through the lens system 4 forms an image in the lower half area of the image sensor 6.

  Table 3 below shows an example of lens data in which the diaphragm 5 is provided on the subject side of the long-distance imaging lens system 3 and the short-distance imaging lens system 4.

  The long-distance imaging lens system 3 composed of the lens data shown in Table 3 has a focal length of 15 mm and a half angle of view ω of 10.7 degrees, and the short-distance imaging lens system 4 has a focal length of 9 mm. The half angle of view ω was 17.4 degrees and the FNo could be 2.8.

  Furthermore, as shown in the configuration diagram of FIG. 9, a common diaphragm 5 for the long-distance imaging lens system 3 and the short-distance imaging lens system 4 may be disposed on the imaging element 6 side. In this case, the lower half of the optical axis is an imaging lens system 3 for a long distance, and the upper half of the optical axis is an imaging lens system 4 for a short distance. The principal ray of the imaging lens system for distance intersects through the center of the diaphragm 5, and the light transmitted through the imaging lens system 3 for long distance forms an image in the upper half area of the imaging element 6, and imaging for short distance. The light transmitted through the lens system 4 forms an image in the lower half area of the image sensor 6.

  Table 4 below shows an example of lens data in which the diaphragm 5 is provided on the imaging element 6 side of the imaging lens system 3 for a long distance and the imaging lens system 4 for a short distance.

  The long-distance imaging lens system 3 composed of the lens data shown in Table 4 has a focal length of 15 mm and a half angle of view ω of 10.7 degrees, and the short-distance imaging lens system 4 has a focal length of 10 mm, The half angle of view ω was 15.8 degrees and the FNo could be 4.0.

  By disposing the diaphragm 5 on the subject side or the image sensor 6 side of the long-distance imaging lens system 3 and the short-distance imaging lens system 4 in this way, the amount of light passing through the diaphragm surface is increased and bright optics is obtained. An imaging apparatus 1 having a system could be obtained.

  When the long-distance imaging lens system 3 and the short-distance imaging lens system 4 are integrally manufactured, for example, as shown in the cross-sectional view of FIG. The wafer 19a having the holes 18, the front lens 41 of the short-distance imaging lens system 4 and the wafer 19b having the air holes 8 are manufactured and laminated to form a front lens of the long-distance imaging lens system 3. 31 and the front lens 41 of the short-distance imaging lens system 31 can be integrated.

1; imaging device, 2; housing, 3; imaging lens system for long distance,
4; imaging lens system for short distance; 5; aperture; 6; imaging element; 10;
11; Stereo camera device, 12; Computer for image processing, 13; Display device,
14; vehicle, 31; front lens of imaging lens system for long distance,
32; a rear lens of an imaging lens system for a long distance;
41; a front lens of a short-distance imaging lens system;
42: Rear lens of imaging lens system for short distance.

Japanese Patent No. 3554703 JP 2008-58540 A JP-A-11-39596

Claims (8)

The long-distance imaging lens system, the short-distance imaging lens system, the long-distance imaging lens system, and the short-distance imaging lens system have a common diaphragm, and the long-distance imaging lens system. the lens system and light which has passed through the imaging lens system for the near an imaging apparatus for imaging a single imaging element,
The long-distance imaging lens system and the short-distance imaging lens system are each composed of a plurality of semicircular lenses, and the principal ray of the long-distance imaging lens system and the short-distance imaging lens. The principal rays of the system are positioned so as to sandwich a common optical axis extending linearly from the image sensor to the subject side in each of the space closer to the subject than the stop and the space closer to the image pickup device than the stop. It said common to intersect each other at the center of the iris, the lens and the said common optical axis of the imaging lens system for the near and the lenses of the imaging lens system for the long distance while passing through different regions from each other to Arranged along the
The long-distance imaging lens system forms an image of a long-distance subject in either the upper half or the lower half of the optical axis of the imaging device of the imaging element, and the short-distance imaging lens The system forms an image of a subject at a short distance in an area of either the lower half or the upper half of the optical element of the image pickup device of the image pickup device. The long-distance imaging lens system includes a front lens closer to the subject than the diaphragm and a rear lens closer to the imaging element than the diaphragm. The front lens of the long-distance imaging lens system includes the imaging device. The rear lens of the long-distance imaging lens system is arranged in the lower half of the optical axis of the imaging device,
The short-distance imaging lens system includes a front lens closer to the subject than the diaphragm and a rear lens closer to the imaging element than the diaphragm. The front lens of the short-distance imaging lens system includes the imaging device. The imaging apparatus according to claim 1, wherein a rear lens of the short-distance imaging lens system is disposed in an upper half of the optical axis of the imaging apparatus. .   On the optical axis of the boundary between the front lens of the long-distance imaging lens system and the front lens of the short-distance imaging lens system, the rear lens of the long-distance imaging lens system, and the short-distance imaging The imaging apparatus according to claim 2, further comprising a light shielding member on an optical axis at a boundary of the rear lens of the lens system.   The imaging according to any one of claims 1 to 3, wherein a common lens that commonly configures the long-distance imaging lens system and the short-distance imaging lens system is provided before and after the diaphragm. apparatus.   A common aperture is disposed on the subject side of the long-distance imaging lens system and the short-distance imaging lens system for the long-distance imaging lens system and the short-distance imaging lens system. The imaging device according to claim 1.   A common stop is disposed in the far-distance imaging lens system and the short-distance imaging lens system on the imaging element side of the far-distance imaging lens system and the short-distance imaging lens system. The imaging apparatus according to claim 1.   A stereo camera device comprising the imaging device according to claim 1 separated by a predetermined distance. The stereo camera device according to claim 7, an image processing computer, and a display device are mounted on a vehicle,
The stereo camera device captures images of long-distance and short-distance subjects located in front of the vehicle, and the image processing computer is far from the long-distance and short-distance subjects captured by the stereo camera device. An out-of-vehicle monitoring device that calculates distance distribution information to a distance and a short-distance subject, detects a road shape and positions of a plurality of three-dimensional objects from the calculated distance distribution information, and displays them on the display device.

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