JP6559354B2 - Imaging device - Google Patents

Description

  The present invention relates to an imaging device mounted on a traveling vehicle, and more particularly to an imaging device that can obtain an image of a subject without being affected by a change in distance to the subject being shot.

  Deterioration and restoration of social infrastructure equipment built during the period of high economic growth has become a social problem, and efficient inspection technology for deterioration is required. Among these, as a method for inspecting equipment with a wide range such as tunnel lining concrete, a method of mounting a photographing device on a vehicle and photographing while traveling has been proposed (for example, see Patent Documents 1 and 2). Cracks are typical degradation indicators for concrete, but for quantitative investigations, high-resolution photography is required to the extent that one pixel in an image projects a subject with a submillimeter angle.

  When shooting a stationary subject from a traveling vehicle with high resolution, the captured image is corrected by post-processing to prevent a reduction in resolution due to blurring caused by movement of the traveling vehicle in the traveling direction. A method for restoring the image from which the image is removed is effective. For example, if the blurring function on a captured image represented by a point spread function (Point-Spread Function, hereinafter referred to as “PSF”) is known, the image can be corrected by a digital inverse filter operation.

  In normal shooting, the exposure state during the exposure time is constant, and when shooting from a vehicle traveling in one direction, the PSF in the shooting process is a line shape extending in the direction of movement of the subject and has a uniform value. It has. The frequency characteristic of this PSF has a problem that the frequency component in the high band is low and attenuates significantly at a predetermined frequency interval, so that the restoration property is low. As a method for preventing loss of image information during the photographing process, a method for modulating the exposure state during the exposure time has been proposed. For example, a method of irregularly opening and closing the shutter during the exposure time, a method of controlling lighting of the illumination irregularly (for example, Patent Document 3), and a method of controlling the gain of the image sensor (for example, Patent Document 4) are used. Thus, the PSF has a wide band and flat frequency characteristics.

JP-A-5-256633 Patent No. 5149403 Japanese Patent No. 4679662 JP 2007-336064 A

  When a subject is photographed from the traveling vehicle, the distance between the subject and the photographing device is fluctuated due to a shift in the traveling line in addition to the blur in the traveling direction, resulting in blurring. For this reason, the PSF in the shooting process has a shape in which blur and blur due to the movement of the subject are superimposed. When out-of-focus occurs, the methods described in Patent Documents 3 and 4 cannot maintain a wide-band PSF frequency characteristic in the moving direction of the subject (direction opposite to the traveling direction) required for blur correction. In order to prevent defocusing, it is generally considered to secure the depth of field by narrowing the aperture of the lens, but there is a problem that the amount of incident light is reduced as in the case where the exposure time is shortened.

  SUMMARY OF THE INVENTION An object of the present invention is to provide an imaging apparatus that maintains a wideband PSF characteristic in the direction of movement of a subject while suppressing a decrease in the amount of incident light.

The present invention
In an imaging device mounted on a traveling vehicle,
A camera unit that acquires an image of a subject,
Illumination for illuminating the subject;
A lens unit for passing light reflected by the subject, wherein an aperture width in the traveling direction is smaller than an aperture width in a direction perpendicular to the traveling direction and the photographing direction of the camera unit, and a lens. A lens unit having
An image sensor that acquires image data from light that has passed through the lens unit; and a camera unit that includes:
A processing unit including a control unit that controls lighting of the illumination and exposure of the image sensor;
And a vehicle speed detector that detects the speed of the traveling vehicle.

  In the photographing apparatus according to the present invention, by using a diaphragm having a narrow opening in the traveling direction, a wide band PSF frequency characteristic is maintained in the traveling direction even when the distance to the subject fluctuates during photographing. And the effect of defocusing can be effectively removed. Moreover, since it is sufficient that the opening is narrow in the traveling direction, a decrease in the amount of incident light can be minimized.

It is a block diagram of the imaging device concerning Embodiment 1 of the present invention. It is a block diagram of the camera part of the imaging device concerning Embodiment 1 of this invention. It is a figure which shows defocus PSF at the time of applying the aperture_diaphragm | restriction provided with the narrow opening part in the running direction. 4 is a timing chart of each signal output from the control unit of the imaging apparatus according to the first embodiment of the present invention. It is a figure which shows blurring PSF concerning Embodiment 1 of this invention. It is a figure which shows PSF produced using the aperture_diaphragm | restriction concerning Embodiment 1 of this invention. It is a figure which shows PSF produced using the conventional aperture_diaphragm | restriction. It is a figure which shows the frequency characteristic of the running direction D1 of PSF: h at the time of defocusing generation | occurrence | production. It is a block diagram of the other imaging device concerning Embodiment 1 of this invention. It is a figure which shows PSF produced using the aperture_diaphragm | restriction concerning Embodiment 2 of this invention. It is a figure which shows the frequency characteristic of orthogonal direction D2 of PSF: h at the time of defocusing generation | occurrence | production.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing the configuration of the photographing apparatus according to the first embodiment of the present invention, the whole of which is represented by 100. The photographing apparatus 100 is mounted on a traveling vehicle that travels in parallel with the subject 1 serving as a photographing surface. For example, the photographing apparatus 100 is mounted on a vehicle, passes through a tunnel, and photographs tunnel lining concrete.

  In FIG. 1, the photographing apparatus 100 includes a camera unit 10 that photographs a subject 1, a vehicle speed detection unit 20 that detects a vehicle speed, and a processing unit 40 that processes acquired data.

  FIG. 2 is a diagram illustrating the configuration of the camera unit 10. The camera unit 10 includes an illumination 11 for illuminating the subject 1, a lens unit 13 that collects an optical signal obtained from the subject 1, and an image sensor 12 that detects an optical signal that has passed through the lens unit 13. 2, D1 is the moving direction of the moving vehicle on which the camera unit 10 is mounted, Z is the direction orthogonal to the subject 1, and D2 is the vertical direction orthogonal to these two axes.

  The lighting 11 is controlled to be turned on and off by a lighting control signal from the outside, and emits light to the subject 1 when turned on. An image I of light reflected from the subject 1 is formed on the image sensor 12 by the lens unit 13. The image I is composed of the sum of point images P formed on the image sensor 12 by the reflected light from each point of the subject 1. The point image P has a different shape depending on the distance L between the camera unit 10 and the subject 1. As the subject 1 moves beyond the depth of field of the lens unit 13, the point image P has a wider shape.

  The image sensor 12 includes a plurality of photoelectric conversion elements such as CCDs and CMOSs arranged in an array, for example. As shown in FIG. 3, the exposure timing and the exposure time Te are controlled by an exposure trigger signal S2. The The image sensor 12 outputs the integrated pattern of the image I during the exposure time to the processing unit 40 as image data g. On the image data g, the pixel size of the image sensor 12 and the focal length of the lens unit 13 are set in advance so as to photograph the subject 1 with a desired resolution X (mm / pixel). The point image P on the image data g corresponds to a point image distribution function (PSF) when the moving vehicle is photographed in a stationary state. The PSF at this time is defocused PSF: h1.

  The image I of the subject 1 relatively moves on the image sensor 12 (moves in the reverse direction) by the movement of the traveling vehicle. Therefore, the image data g is a pattern obtained by integrating the image I when the illumination 11 is turned on while shifting in the moving direction. A trajectory of the image I moving on the image data g when the illumination 11 is turned on during the exposure time is defined as a blur PSF: h2. PSF: h when the traveling vehicle is photographed while traveling is obtained by the following equation (1).

  * In the formula (1) indicates a convolution operation.

  The lens unit 13 has a diaphragm 131 sandwiched between two lenses 130 and 132, for example. The diaphragm 131 has an opening in which the traveling direction D1 of the traveling vehicle is narrower than the direction D2 orthogonal thereto. In the case of an ordinary lens unit, the distance between the subject 1 and the traveling vehicle (distance in the Z direction) fluctuates, and the blurring of the image increases when the subject 1 is out of focus (out of focus). The diaphragm 131 passes through the lens unit 13 out of the reflected light of the subject 1 and forms the amount of light bundle (corresponding to the brightness of the image) and the size (generally the numerical aperture NA of the lens). The value called). The diaphragm 131 is disposed in the vicinity of the lenses 130 and 132 where the beam bundles from the respective points in the photographing range of the subject 1 are overlapped with each other and spaced from the image sensor 12. In general, the narrower the aperture width of the stop 131, the deeper the depth of field, but the brightness decreases. The aperture 131 controls the brightness and depth of field according to the aperture shape, and is different from a mask that is arranged on the image sensor and restricts an imaging range such as a field of view or a field angle of the camera.

  On the other hand, since the lens unit 13 according to the first embodiment of the present invention has a rectangular opening with a narrow width W1 in the traveling direction D1 (W1 <W2), the depth of field in the traveling direction D1 is small. Deepen. FIG. 3 shows an image in which the shape of PSF: h1 is expressed by a luminance value, and a PSF profile in the traveling direction D1 and the direction D2 orthogonal to the traveling direction D1 and the optical axis Z.

  FIG. 3 shows the case (a) of the in-focus position and the case (b) of the in-focus position when the distance varies. PSF: h1 represents how the point image on the stationary subject has a spread on the image. When an image is captured at an in-focus position with an ideal lens, a point image on the subject is formed on a specific pixel of the image sensor via the lens. The PSF at this time is expressed as a bright image with only one pixel to be imaged bright and the other pixels dark.

  As shown in FIG. 3A, the lens unit 13 according to the first embodiment of the present invention is designed so that at least the PSF spread at the in-focus position is 2 pixels or less in both the D1 direction and the D2 direction. .

  Since the diaphragm 131 of the lens unit 13 according to the first embodiment of the present invention has a narrow opening in the traveling direction D1, the spread of the PSF in the traveling direction D1 can be suppressed even in the out-of-focus position (b). . The opening width W1 in the traveling direction D1 is set so that no blur occurs in the traveling direction D1 even when the distance between the subject 1 and the traveling vehicle varies within a predetermined range. That is, as shown in FIG. 3B, when the distance between the subject 1 and the traveling vehicle is within a predetermined range, the width W1 is the extent of the out-of-focus PSF: h1 from the subject 1 in the traveling direction D1. It is set to be 2 pixels or less (D1 profile). On the other hand, the width W2 of the stop 131 with respect to the traveling direction D1 and the direction D2 orthogonal to the optical axis Z is set so that the subject 1 has a gradation value with sufficient brightness on the image data g (D2 profile).

  Moreover, the vehicle speed detection part 20 detects the vehicle speed V of a traveling vehicle via the odometer etc. which were mounted in the traveling vehicle.

  Further, the subject distance detection unit 30 is oriented in the same direction as the camera unit 10, that is, the Z direction in FIG. 2, and detects the distance L to the subject 1.

  The processing unit 40 further includes a control unit 41, a defocused PSF table recording unit 42, a defocused PSF calculation unit 43, a blur PSF calculation unit 44, a PSF calculation unit 45, an image restoration calculation unit 46, and an image recording unit 47.

  Here, FIG. 4 is a timing chart of each signal output from the control unit of the photographing apparatus according to the first embodiment of the present invention. The control unit 41 outputs an exposure trigger signal S2 as shown in FIG. 4 to the image sensor 12, and controls the exposure timing and exposure time of the image sensor 12. Further, the control unit 41 outputs a lighting control signal S1 as shown in FIG. At this time, the lighting control signal S1 is determined based on a predetermined coding sequence C. In this way, the control unit 41 encodes and modulates the exposure state during the exposure time.

By the way, due to the mounting of the diaphragm 131, the defocused PSF: h1 does not spread in the traveling direction D1, while the distance L1 between the camera unit 10 and the subject 1 in the direction D2 orthogonal to the traveling direction D1 and the optical axis Z. Slightly broadens accordingly. The processing unit 40 according to the first embodiment performs a correction process of the spread of the defocused PSF: h1 in the direction D2 together with the correction of the shake in the traveling direction D1.
The out-of-focus PSF table recording unit 42 records in advance a out-of-focus PSF: h1 corresponding to the distance L1.

  The out-of-focus PSF selection unit 43 is controlled by the control unit 41, and acquires the distance L1 between the traveling vehicle and the subject 1 from the subject distance detection unit 30 at the exposure timing of the image sensor 12. Next, the out-of-focus PSF selection unit 43 refers to the out-of-focus PSF table recording unit 42 and acquires the out-of-focus PSF: h1 corresponding to the distance L1.

  The shake PSF calculation unit 44 is controlled by the control unit 41 and acquires the vehicle speed V from the vehicle speed detection unit 20 at the exposure timing of the image sensor 12. Next, the shake PSF calculation unit 44 calculates the shake PSF: h2 from the lighting pattern of the illumination 11 and the vehicle speed V described above. On the image, the subject 1 moves relatively in the direction opposite to the traveling direction D1 of the traveling vehicle. FIG. 5 is an image in which the shape of PSF: h2 is expressed by a luminance value. The vertical direction is the traveling direction D1, and the horizontal direction is the vertical direction D2. The contrast on the image corresponds to the movement trajectory of the point image of the subject 1 on the image during the exposure time. The trajectory width P (pixel) is calculated by the following equation (2) from the traveling speed V of the traveling vehicle, the imaging resolution X, and the exposure time T.

  PSF: h2 is calculated by superimposing the lighting on / off state during the exposure time on the movement of the subject 1. A pixel with a high luminance value in the PSF image shown in FIG. 5 indicates that the point image of the subject 1 has passed between the pixels of the image sensor while the illumination is on and the pixel with a low luminance value is off. Specifically, PSF: h2 is obtained by enlarging or reducing the encoded sequence C according to the width P of the trajectory and performing an interpolation process.

  The PSF calculation unit 45 acquires the out-of-focus PSF: h1 from the out-of-focus PSF selection unit 43 and the out-of-motion PSF: h2 from the out-of-focus PSF calculation unit 44, and calculates PSF: h based on Expression (1).

  The image restoration calculation unit 46 obtains image data g from the image sensor 12 and PSF: h from the PSF calculation unit 45. Next, the image restoration calculation unit 46 calculates G (u, v) and H (u, v) obtained by performing Fourier transform on the image data g and PSF: h, respectively. u and v represent the coordinates in the frequency space of the horizontal and vertical directions of the image data g.

  Further, the image restoration calculation unit 46 performs image correction by inverse filter calculation using a Wiener filter function expressed by the following equation (3).

Here, H ^* is the complex conjugate of H, and σ is the stabilization constant of the Wiener filter. F represents the corrected image data f that has been subjected to Fourier transform.

  Further, the image restoration calculation unit 46 performs inverse Fourier transform on F calculated as described above, calculates corrected image data f, and outputs it to the image recording unit 47.

  The image recording unit 47 acquires the corrected image data f from the image restoration calculation unit 46 and records it as needed.

  FIG. 6 shows a schematic diagram of a diaphragm 131 having a narrow opening in the traveling direction D1, and an example of out-of-focus PSF: h1, blur PSF: h2, and PSF: h when this diaphragm 131 is used. The left figure is a schematic diagram of the diaphragm 131, and the upper two figures in the right column are in-focus and non-focused with a defocused PSF: h1, the middle part is blurred PSF: h2, and the lower part is a superposed PSF: h. In-focus and out-of-focus. In these, the left-right direction is the running direction D1, and the up-down direction is D2.

  The width of the blur PSF: h2 is determined by the vehicle speed V and the exposure time Te of the traveling vehicle. For example, when the vehicle speed V = 100 km / h, the exposure time Te = 1 (ms), and the resolution X = 0.5 (mm / pixel), the moving amount of the image I during the exposure time on the image data g, that is, The width P of the shape of blur PSF: h2 is about 56 pixels. The shape of the blur PSF: h2 is determined by a lighting control signal S1 that is a lighting pattern of the illumination 11. It is desirable that the lighting control signal S1 is determined so that the frequency characteristic of the blur PSF: h2 is wide and flat. Here, the following code sequence described in Patent Document 3 is applied to the lighting pattern of the illumination 11 during the exposure time.

  101000011100000101000011001111011110101110001001100111

  When the traveling vehicle travels a distance that is in focus with respect to the subject 1 (hereinafter referred to as “focusing condition”), the spread of the defocused PSF: h1 is small. In FIG. 6, the spread is illustrated as being within one pixel.

  On the other hand, when the traveling vehicle travels a distance that is out of focus with respect to the subject 1 (hereinafter referred to as “out-of-focus condition”), the point image P is out of focus in a lens unit having a normal circular aperture stop. Become.

  On the other hand, in the photographing apparatus 100 according to the first embodiment of the present invention, the lens unit 13 that forms an image has the diaphragm 131 having a narrow opening in the traveling direction D1 (W1 <W2). Therefore, even under the out-of-focus condition, the out-of-focus PSF: h1 has a shape that spreads in the orthogonal direction D2, but the spread is suppressed in the traveling direction D1. In FIG. 6, the spread in the running direction D1 of the out-of-focus PSF: h1 is assumed to be within one pixel, and the spread in the orthogonal direction D2 is illustrated as having a full width at half maximum of 5 pixels in a Gaussian distribution. At this time, PSF: h maintains the shape of the running direction D1 in the shape of the shake PSF: h2. For this reason, even in the out-of-focus condition, the frequency characteristic in the running direction D1 of PSF: h inherits the characteristic of the blur PSF: h2 that is controlled so as to be a broadband and flat frequency characteristic (PSF: h (non-focusing). (See Jiao))).

  FIG. 7 shows, as a comparative example, out-of-focus PSF: h1, blur PSF: h2, and PSF: h when a circular aperture stop that maintains brightness is applied. The figure on the left is a schematic diagram of a circular aperture stop, and in the two rows on the right, the upper stage is out-of-focus PSF: h1 in-focus and out-of-focus, the middle stage is blurred PSF: h2, and the lower stage is a PSF on which they are superimposed: h indicates in-focus and out-of-focus. In these, the left-right direction is the running direction D1, and the up-down direction is D2.

  As shown in FIG. 7, in the out-of-focus condition, the shape of the defocused PSF: h1 spreads in all directions, and is illustrated here as having a full width at half maximum of 5 pixels in a Gaussian distribution. At this time, the out-of-focus PSF: h1 also spreads in the traveling direction D1, and as shown in FIG. 7, PSF: h cannot take over the shape of the traveling direction D1 of the blurred PSF: h2 (PSF: h (See Jiao))).

  FIG. 8 shows the frequency characteristic of the running direction D1 of PSF: h when defocusing occurs. The horizontal axis represents frequency and the vertical axis represents the logarithm of luminance. A solid line indicates a case where an aperture having a narrow opening (FIG. 7) in the traveling direction is applied (Example), and a broken line indicates a case where a circular aperture stop (FIG. 8) is applied (Comparative Example).

  In FIG. 8, the shape of the blur PSF: h2 and the spread of the point image P are calculated under the conditions shown in the examples of FIGS. According to FIG. 8, in the example according to the present embodiment in which the aperture 131 having a narrow opening is combined with the traveling direction D1, PSF: h has a broadband and flat frequency characteristic in the traveling direction D1 even under out-of-focus conditions. Maintained. On the other hand, in a comparative example using a general circular aperture stop, the frequency in the running direction D1 of PSF: h is sufficient even if the blur is sufficiently small with respect to blur (in FIG. 7, the blur is 56 pixels and the blur is 5 pixels). It can be seen that the characteristics are low in the high frequency band, and the restoration performance and correction performance expected in Patent Document 3 and Patent Document 4 cannot be obtained.

  As described above, since the imaging apparatus 100 according to the first embodiment of the present invention includes the lens unit 13 having the aperture 131 having the narrow opening in the traveling direction D1, the camera unit 10 and the subject are captured during imaging. Even if the distance to 1 fluctuates and the in-focus condition is reached, a wide and flat PSF frequency characteristic is maintained in the traveling direction D1, and blur and defocus can be effectively removed during the image restoration process. Further, compared with a case where the circular aperture stop is simply reduced, the stop 131 reduces the width only in the traveling direction D1, and the reduction in brightness on the image data g can be minimized.

  In the imaging device 100 according to the first embodiment of the present invention, the opening shape of the opening portion of the diaphragm 131 has a rectangular shape in which the traveling direction D1 of the traveling vehicle is narrower than the direction D2 perpendicular to the traveling direction. However, the opening shape may be a shape in which the out-of-focus PSF: h1 does not spread in the traveling direction D1. The opening shape of the opening of the diaphragm 131 is, for example, a shape in which the traveling direction D1 of the traveling vehicle is narrower than the direction D2 perpendicular to the traveling direction, and the corner of the opening is rounded or chamfered. May be. The opening shape of the opening of the diaphragm 131 may be, for example, an elliptical shape in which the traveling direction D1 of the traveling vehicle is the long axis and the direction D2 orthogonal thereto is the short axis.

  In the photographing apparatus 100 according to the first embodiment of the present invention, the defocus PSF: h1 corresponding to the distance L between the camera unit 10 and the subject 1 is recorded in advance in the defocus PSF table recording unit 42, and the defocus PSF. The selection unit 43 refers to the defocused PSF table recording unit 42 and acquires the defocused PSF: h1 corresponding to the distance L. However, the defocused PSF: h1 is directly from the image data g actually acquired by the image sensor 12. You may get it.

  FIG. 9 is a block diagram of a photographing apparatus of another photographing apparatus 200 according to the first embodiment of the present invention. In FIG. 9, the same reference numerals as those in FIG. 1 indicate the same or corresponding parts. In the photographing apparatus 200, the subject distance detection unit 30, the defocused PSF table recording unit 42, the defocused PSF selection unit 43, and the PSF calculation unit 45 are omitted as compared with the photographing apparatus 100.

  The image restoration calculation unit 46 acquires the image data g from the image sensor 12. At this time, the out-of-focus condition and the out-of-focus condition defocus PSF: h1 are acquired directly from the image data g.

  On the other hand, the blur PSF calculation unit 44 is controlled by the control unit 41, acquires the vehicle speed V from the vehicle speed detection unit 20 at the exposure timing of the image sensor 12, and calculates the blur PSF from the lighting pattern of the illumination 11 and the vehicle speed V described above. : Calculate h2.

  In the image restoration calculation unit 46, PSF: h is obtained by superimposing PSF: h1 and PSF: h2 as described above.

  As described above, the photographing storage 200 can acquire PSF: h with a simpler configuration.

Embodiment 2. FIG.
In the photographing apparatus according to the second embodiment of the present invention, instead of the diaphragm 131 having a narrow opening in the traveling direction D1 of the first embodiment, the width is narrow in the traveling direction D1 and the encoding is performed in the orthogonal direction D2. A diaphragm with an aperture is used. Other structures are the same as those of the photographing apparatus 100.

  FIG. 10 shows out-of-focus PSF: h1, blur PSF: h2, and PSF: h when an aperture stop that is narrow in the traveling direction D1 and encoded in the orthogonal direction D2 is applied. The figure on the left is a schematic diagram of such an opening, and the upper row of the two rows on the right is in-focus and out-of-focus PSF: h1, the middle is blurred PSF: h2, and the lower is the PSF on which they are superimposed. : Indicates in-focus and out-of-focus in h. In these, the left-right direction is the running direction D1, and the up-down direction is D2.

  In FIG. 10, in the out-of-focus condition, the spread of the defocused PSF: h1 is suppressed not only in the traveling direction D1 but also in the encoded orthogonal direction D2. As a result, when superimposed on the shake PSF: h2, the PSF: h can take over the shape of the running direction D1 of the shake PSF: h2 in both directions D1 and D2 (see PSF: h (unfocused)). .

  FIG. 11 shows frequency characteristics in the orthogonal direction D2 of PSF: h when defocusing occurs (see PSF: h (out-of-focus)). The horizontal axis represents frequency and the vertical axis represents logarithm of luminance. Similar to the frequency characteristic in the traveling direction D1 of PSF: h shown in FIG. 10 of the first embodiment, the frequency characteristic shown in FIG. 11 is a broadband and flat.

  As described above, by applying the aperture stop narrow in the traveling direction D1 and encoded in the orthogonal direction D2, the frequency characteristic of the PSF: h that is wide and flat in the orthogonal direction D2 can be obtained. It is possible to effectively remove blurring and defocusing.

  The aperture used in the second embodiment can also be applied to the photographing apparatus 200 described above.

  DESCRIPTION OF SYMBOLS 1 Subject, 10 Camera part, 20 Vehicle speed detection part, 30 Subject distance detection part, 40 Processing part, 11 Illumination, 12 Image sensor, 13 Lens unit, 130, 132 Lens, 131 Aperture with a narrow opening in the running direction, 41 Control unit, 42 Out-of-focus PSF table recording unit, 43 Out-of-focus PSF selection unit, 44 Blur PSF calculation unit, 45 PSF calculation unit, 46 Image restoration operation unit, 47 Image recording unit, 100, 200

Claims (7)

In an imaging device mounted on a traveling vehicle,
A camera unit that acquires an image of a subject,
Illumination for illuminating the subject;
A lens unit for passing light reflected by the subject, wherein an aperture width in the traveling direction is smaller than an aperture width in a direction perpendicular to the traveling direction and the photographing direction of the camera unit, and a lens. A lens unit having
An image sensor that acquires image data from light that has passed through the lens unit; and a camera unit that includes:
A processing unit including a control unit that controls lighting of the illumination and exposure of the image sensor;
And a vehicle speed detector for detecting the speed of the traveling vehicle.   The photographing apparatus according to claim 1, wherein the diaphragm is disposed at a distance from the image sensor.   The photographing apparatus according to claim 1, wherein the aperture of the diaphragm is further encoded in a direction orthogonal to the traveling direction. And a subject distance detecting unit for measuring a distance between the photographing apparatus and the subject.
The imaging apparatus according to claim 1, wherein the processing unit further includes a blur PSF calculation unit and an image restoration calculation unit.   The processing unit calculates a PSF of the image data based on the traveling speed and direction of the traveling vehicle, the distance between the imaging device and the subject, and the image data, and based on the calculated PSF. 5. The photographing apparatus according to claim 1, wherein a restored image is obtained by performing an image restoration process.   6. The photographing apparatus according to claim 5, wherein the PSF is created by convolution calculation of a defocused PSF and a blur PSF in a traveling direction of the traveling vehicle.   7. The photographing apparatus according to claim 6, wherein a defocus PSF recorded in advance is selected from the recording unit according to the distance detected by the subject distance detection unit.

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