JP7048301B2 - Anomaly detection method for shooting system, shooting unit, information processing unit, shooting unit - Google Patents

Description

The present invention relates to an abnormality detection method for an imaging system, an imaging unit, an information processing unit, and an imaging unit.

With the widespread use of autonomous driving systems and electronic mirrors, there is a demand for fail-safe systems for the entire system, including in-vehicle cameras. Some conventional systems determine whether the vehicle-mounted camera is normal or abnormal by providing an ECU that monitors the power supply to the vehicle-mounted camera and monitors the synchronization signal from the vehicle-mounted camera.
However, if the pixel, which is the display unit of the image, is not normally displayed due to some problem after the in-vehicle camera is shipped, the ECU determines that the in-vehicle camera is normal. As a method for detecting a pixel abnormality after shipment, a technique for determining a defective pixel based on a difference in signal output level between a predetermined pixel and a plurality of pixels around the predetermined pixel is disclosed (for example, Patent Document). 1).

JP-A-2002-22391

However, in the technique described in Patent Document 1, since the image used for detection is a captured image in normal operation, the difference in signal output level between a predetermined pixel and a plurality of surrounding pixels is not the result of a pixel abnormality. , It may be caused by the actual image itself, and false detection occurs.
Therefore, an object of the present invention is to improve the detection accuracy of pixel abnormality.

In order to achieve the above object, the present invention is an imaging system including an image sensor and a case for accommodating the image sensor so that an image outside the case can be captured. A pixel abnormality of the output image is detected based on a light source that irradiates the light receiving portion with light that makes the destructive point of the image sensor manifest, and an output image of the image sensor when the light of the light source is irradiated. The output image is an image of a moving image in which a frame image for abnormality detection to be the target of the abnormality detection process is mixed, and the frame image for abnormality detection includes an abnormality detection unit for performing an abnormality detection process. It is characterized in that identification information indicating that the image is for abnormality detection is added .

In the above configuration, an exposure time control unit for controlling the exposure time of the image sensor is provided, and the frame image for detecting an abnormality controls the exposure time to a set exposure time that makes the bright spot of the image sensor manifest. Even if the abnormality detection unit detects a pixel abnormality of the output image based on the output image when the set exposure time is controlled , the abnormality detection unit includes the output image of the time. good.

Further, in the above configuration, the frame image for abnormality detection is irradiated with the light of the light source, and the exposure time of the image sensor is the first exposure that saturates the pixel value of the image sensor with the light of the light source. The abnormality detection unit includes the output image when the time is set and the output image when the light source is turned off and the exposure time of the image sensor is set to the minimum second exposure time. As the abnormality detection process, the dead point of the output image is detected based on the output image when the first exposure time is set, and the output image is based on the output image when the second exposure time is set . The bright spot of the output image may be detected.

Further, in the above configuration, the frame image for detecting an abnormality may be output at the start of shooting by the image sensor.

Further, in the above configuration, the frame image for abnormality detection may be continuously output at intervals of time while the image sensor is used for shooting.

Further, in an imaging unit including an image sensor and a case for accommodating an image outside the case so that an image outside the case can be captured, the image sensor is arranged in the case, and a light receiving portion of the image sensor is a dead point of the image sensor. It has a light source that irradiates light that makes it manifest, and at least outputs an output image of the image sensor when the light of the light source is irradiated, and the output image is an abnormality used for detecting a pixel abnormality in the output image. It is an image of a moving image in which frame images for detection are mixed, and the frame image for abnormality detection is characterized in that identification information indicating that it is an image for abnormality detection is added .

Further, in an information processing unit including an input unit for inputting an image and an information processing unit for processing the input image, the input unit is the output image when the light of the light source is irradiated from the photographing unit. Is input at least, and the information processing unit identifies the frame image for abnormality detection based on the identification information of each frame image included in the input output image, and uses the identified frame image for abnormality detection. Based on this, it is characterized in that an abnormality detection process for detecting a pixel abnormality in the output image is performed.

Further, in an abnormality detection method of an imaging unit including an image sensor and a case for accommodating the image sensor so that an image outside the case can be captured, a light receiving unit of the image sensor is transmitted from a light source arranged in the case. An abnormality detection process for detecting a pixel abnormality in the output image based on the output image of the image sensor when the light of the light source is irradiated with light that makes the dead point of the light receiving portion manifest. The output image is an image of a moving image in which a frame image for abnormality detection to be the target of the abnormality detection process is mixed, and the frame image for abnormality detection is an image for abnormality detection. It is characterized in that the identification information shown is added .

According to the present invention, it is possible to improve the detection accuracy of pixel abnormality.

It is a block diagram which shows the structure of the photographing system which concerns on embodiment of this invention. It is a flowchart which shows the operation of an in-vehicle camera. It is a figure which shows the output image of an in-vehicle camera schematically. It is a flowchart which shows the operation of an information processing unit.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a configuration of a photographing system 1 according to an embodiment of the present invention.
The photographing system 1 includes an photographing unit 11 mounted on a vehicle (hereinafter referred to as an in-vehicle camera) and an information processing unit 31 for detecting an abnormality in the in-vehicle camera 11.
This photographing system 1 is used in an in-vehicle system using an in-vehicle camera 11. For example, this photographing system 1 automatically drives a vehicle by using an electronic mirror system that makes it possible to check the surroundings by using an in-vehicle camera 11 and a display device instead of a door mirror, or an in-vehicle camera 11 (following a preceding vehicle). , Including automatic braking, etc.) Used in automatic driving systems.

The vehicle-mounted camera 11 has an image sensor 12 and a case 13 that houses the image sensor 12, and the case 13 constitutes a member that covers the vehicle-mounted camera 11 and functions as a protective case that protects the image sensor 12 from rainwater and the like. do. A lens unit 15 is provided in the case 13, and an image outside the case 13 is captured by the image sensor 12 via the lens unit 15.
The image sensor 12 is a sensor that outputs image data corresponding to the captured image. The image sensor 12 having this configuration is a CMOS image sensor including CMOS photoelectric conversion elements arranged in a matrix and an electronic circuit, whereby the light receiving unit 16, the photoelectric conversion unit 17, and the image processing unit 18 are provided. An image data output unit 19, an exposure time control unit 20, and a camera control unit 21 are configured.

The lens unit 15 condenses the light indicating the image outside the case 13 on the light receiving unit 16 and forms an image. The light receiving unit 16 outputs a signal corresponding to the amount of light received to the photoelectric conversion unit 17 for each region corresponding to the plurality of pixels. The photoelectric conversion unit 17 converts the signal from the light receiving unit 16 into predetermined electrical data. The image processing unit 18 sequentially generates image data (also referred to as a frame image) for one frame based on the electrical data from the photoelectric conversion unit 17, and outputs the image data of the moving image by outputting the image data.

Further, the image processing unit 18 describes an image identification number in an additional area of each frame image constituting the image data of the moving image under the control of the camera control unit 21. The image identification number also serves as identification information for identifying whether or not the frame image is an image for detecting an abnormality related to the captured image (image of the image sensor 12) in the vehicle-mounted camera 11. The image data output unit 19 outputs the image data output from the image processing unit 18 to the information processing unit 31 outside the vehicle-mounted camera 11 in a predetermined output format.

The exposure time control unit 20 controls the exposure time of the image sensor 12 under the control of the camera control unit 21. By setting the exposure time to an appropriate value, as is known, an image in which so-called overexposure and underexposure are suppressed can be obtained. The shorter the exposure time, the darker the image as a whole, and the longer the exposure time, the brighter the image as a whole.
The camera control unit 21 controls the exposure time and the like by the exposure time control unit 20 by controlling each unit of the vehicle-mounted camera 11. Further, the camera control unit 21 is connected to the information processing unit 31 by communication, and can stop the operation of the vehicle-mounted camera 11 based on the signal from the information processing unit 31.

By the way, in general, this type of image sensor 12 has a dead point (corresponding to a pixel that is not always lit or a pixel with a minimum pixel value at all times) and a bright spot (a pixel that is always lit or has a maximum pixel value at all times) at the time of product shipment. The presence or absence of pixel abnormalities such as (corresponding to) is inspected.
However, when the image sensor 12 is used in an environment with a high temperature or is affected by a small amount of X-rays or the like, damage is accumulated in the photoelectric conversion element or the like, and a spot or a bright spot is generated after shipment. Sometimes.

In the vehicle-mounted camera 11 having the present configuration, as shown in FIG. 1, a light source 22 is arranged in the case 13, and the light source 22 causes the light receiving unit 16 of the image sensor 12 to reveal a pixel that becomes a vanishing point. It is configured to be able to irradiate a sufficient amount of light. Therefore, when the light of the light source 22 is irradiated, the image sensor 12 shows an image in which all the pixel values in the light receiving region are saturated (corresponding to an image that is totally overexposed) except for the dead point. The data is output. This image data is used as an image (frame image) for detecting an abnormality.

For example, a light emitting element such as an LED is applied to the light source 22, and the light emitting time and the light emitting timing are controlled under the control of the camera control unit 21. The emitted light of the light source 22 may be directly irradiated to the light receiving unit 16, or may be reflected by the inner wall of the case 13 and irradiated to the light receiving unit 16. Therefore, the arrangement and orientation of the light source 22 are not limited within the range in which the light receiving unit 16 can be irradiated with light, and the light source 22 can be easily arranged by utilizing the dead space vacated in the case 13. A reflective member 23 that reflects the light of the light source 22 toward the light receiving unit 16 in the case 13 so that the light from the light source 22 reaches the light receiving unit 16 efficiently (indicated by a two-dot chain line in FIG. 1). May be placed.

Next, the information processing unit 31 will be described.
The information processing unit 31 includes a computer including a CPU and peripheral circuits, and the CPU executes a predetermined control program to execute an image data input unit 32, an image data determination unit 33, an image data output unit 34, and an image data abnormality. The determination unit 35 and the signal output unit 36 are configured.
The image data input unit 32 inputs image data (corresponding to an output image of the vehicle-mounted camera 11) output from the vehicle-mounted camera 11. The image data determination unit 33 and the image data abnormality determination unit 35 function as an information processing unit that processes the input image. Specifically, the image data determination unit 33 determines whether or not the image is for abnormality detection by reading the image identification number of each frame image constituting the image data.

The image data output unit 34 generates image data excluding the image for abnormality detection specified by the image data determination unit 33 from the image data output from the vehicle-mounted camera 11, so that the actual image data outside the vehicle-mounted camera 11 is actually generated. Outputs image data corresponding to video (corresponding to actual video). The image data output by the image data output unit 34 is used for an electronic mirror, automatic operation, or the like.
The image data abnormality determination unit 35 counts the number of abnormal pixels in this image based on the image for abnormality detection identified by the image data determination unit 33, and based on the counting result, whether or not the image data is normal. That is, it is determined whether or not the image of the image sensor 12 is normal.
The signal output unit 36 communicates with the vehicle-mounted camera 11, and when it is determined that the image data is not normal (abnormal), the signal output unit 36 sends a stop signal, which is a signal for stopping the vehicle-mounted camera 11, to the camera control unit 21 of the vehicle-mounted camera 11. Output.

FIG. 2 is a flowchart showing the operation of the vehicle-mounted camera 11.
The in-vehicle camera 11 starts operation by supplying power from the vehicle side or the like, and first starts shooting an actual image by the image sensor 12 (step S1).
FIG. 3 is a diagram schematically showing an output image of the vehicle-mounted camera 11. As shown in FIG. 3, the image sensor 12 sequentially outputs one frame image (frame images G1, G2, G3, G4 ... In FIG. 3) corresponding to a still image, that is, a moving image. The data is output.

Further, the camera control unit 21 in the image sensor 12 starts a process of adding an image identification number to each frame image G1 to G4 or the like constituting the image data of the moving image (step S2). As shown in FIG. 3, the data of each frame output from the image sensor 12 includes an image data area R1 for storing image data and an additional data area R2 for storing additional data, and the image is in the additional data area. By storing the identification number, the image identification number is added to each frame image.

In this configuration, an image identification number having a value of 00 indicating that the image is a real image is added to the frame of the real image (frame images G1 and G4 in FIG. 3), and a frame that is not a real image (frame image G2 in FIG. 3) is added. , G3), the image identification numbers of the values 01 and 02 indicating that the image is for abnormality detection are added.
The actual image corresponding to the frame images G1 and G4 illustrates a case where the driver of the vehicle is taking an image equivalent to the surrounding image obtained by the door mirror by the vehicle-mounted camera 11.

As shown in FIG. 2, after the start of shooting, the camera control unit 21 performs a first process for obtaining an image for detecting a dead point of the image sensor 12 (step S3).
The operation of this first process is as follows. First, the camera control unit 21 uses the exposure time control unit 20 to set the exposure time to the first exposure time (for example, 30 fps), which is a maximum constant value sufficient to saturate the pixel value (for example, the luminance level) with the light of the light source 22. In the case, it is set to 33 ms). Next, the camera control unit 21 causes the light source 22 to emit light at the same time as the start of exposure, and turns off the light source 22 at the same time as the end of exposure. As a result, as shown in FIG. 3, a frame image G2 (corresponding to an image for detecting the vanishing point of the image sensor 12) in which only the vanishing point of the image sensor 12 (corresponding to the black dot P1 in FIG. 3) is manifested is obtained. Be done.

As described above, since the image identification number of the value 01 indicating that the frame image G2 is an image for abnormality detection is added (see FIG. 3), the image for abnormality detection on the information processing unit 31 side is added. Whether or not it can be easily determined.
In the first process, the case where the light source 22 continuously emits light during the exposure time has been described, but the present invention is not limited to this. For example, the light emission time of the light source 22 may be shorter than the exposure time or the light source 22 may be made to emit light a plurality of times within a range in which an image equivalent to the frame image GX can be obtained.

After the first process, the camera control unit 21 performs a second process for obtaining an image for detecting the bright spot of the image sensor 12 (step S4). In this case, the camera control unit 21 sets the exposure time to the second exposure time (0 ms in the case of this configuration), which is a minimum value sufficient to obtain a black image, by the exposure time control unit 20.
As a result, as shown in FIG. 3, a frame image G3 in which only the bright spots (corresponding to the white spots P2 in FIG. 3) of the image sensor 12 are manifested can be obtained. This frame image G3 is used as an image for detecting bright spots in the output image. The second exposure time is preferably 0 ms, but may be other than 0 ms as long as the bright spot can be discriminated.

An image identification number having a value of 02 indicating that the image is for abnormality detection is also added to this frame image G3 (see FIG. 3), and the information processing unit 31 can easily determine whether or not the image is for abnormality detection. It is possible.

The first process and the second process are executed at least at the start of shooting (in this configuration, within a few seconds after the start of shooting). As a result, images for abnormality detection (frame images G2 and G3) are obtained before the captured image of the vehicle-mounted camera 11 is substantially used for the electronic mirror or automatic operation, and the information processing unit is based on these images. 31 performs an abnormality detection process for detecting a pixel abnormality in the output image.
After the second processing is completed, the camera control unit 21 continues shooting until the power supply to the vehicle-mounted camera 11 is stopped or until the stop signal is received from the information processing unit 31 (step S5).

The first process and the second process may be executed only at the start of shooting, or may be continuously executed at intervals of time while the in-vehicle camera 11 is shooting a moving image. The timing may be set arbitrarily. When the first process and the second process are continuously executed, the captured moving image includes images for abnormality detection (frame images G2 and G3) at time intervals.

FIG. 4 is a flowchart showing the operation of the information processing unit 31. This operation corresponds to an abnormality detection process for detecting a pixel abnormality in the output image of the vehicle-mounted camera 11.
The information processing unit 31 starts operation by supplying power from the vehicle side (step S11), and when image data is input from the in-vehicle camera 11 (step S11), the image data determination unit 33 constitutes each of the image data. Based on the image identification number of the frame image, it is determined whether or not the image is for abnormality detection (step S12).
When the image is not an abnormality detection image (step S12; NO), the information processing unit 31 transmits the image data to the image data output unit 34 and outputs the image data to the outside (step S13).

On the other hand, in the case of an image for abnormality detection (step S12; YES), the information processing unit 31 transmits the image data to the image data abnormality determination unit 35, and the image data abnormality determination unit 35 counts the number of abnormal pixels (step S12; YES). Step S14).
In this case, since the image for detecting an abnormality is an image (frame images G2, G3) in which only the black spot P1 or the white spot P2 corresponding to the blind spot or the bright spot appears, it is easy to make each of the blind spot and the bright spot. The number of abnormal pixels can be accurately counted. For example, an abnormal pixel is determined only by a simple method such that a pixel whose pixel value proportional to the light receiving amount of each pixel is lower than the dead point determination threshold is determined to be a dead point, and a pixel whose pixel value is higher than the bright point determination threshold is determined to be a bright point. Can be detected.

When the number of abnormal pixels is counted (step S14), the information processing unit 31 compares the number of abnormal pixels with a predetermined threshold value by the image data abnormality determination unit 35 (step S15). Then, when the value is equal to or greater than the threshold value (step S15; YES), the image data is determined to be abnormal, that is, the output image of the vehicle-mounted camera 11 is determined to be abnormal, and a stop signal for stopping the vehicle-mounted camera 11 is output from the signal output unit 36. As a result, when the information processing unit 31 detects a pixel abnormality in the output image, the in-vehicle camera 11 is stopped.
On the other hand, when the number of abnormal pixels is less than the threshold value (step S15; YES), the information processing unit 31 shifts to the process of step S11. The above is the operation of the information processing unit 31.

As described above, the vehicle-mounted camera 11 of the present embodiment is provided with a light source 22 that irradiates the light receiving unit 16 of the image sensor 12 with light that makes the destructive point of the image sensor 12 manifest. The information processing unit 31 functions as an abnormality detection unit that performs an abnormality detection process for detecting a pixel abnormality in the output image based on the output image when the light of the light source 22 is irradiated. As a result, the pixel abnormality can be easily detected and the pixel abnormality detection accuracy can be improved as compared with the case where the pixel abnormality of the dead point is detected by using the actual image. Therefore, it is suitable for failure diagnosis of the vehicle-mounted camera 11.

Further, an exposure time control unit 20 for controlling the exposure time of the image sensor 12 is provided, and the information processing unit 31 further uses the exposure time as an abnormality detection process to make the bright spot of the image sensor 12 manifest. Detects pixel abnormalities in the output image based on the output image when controlled to (corresponding to the set exposure time). As a result, the pixel abnormality can be easily detected and the pixel abnormality detection accuracy can be improved as compared with the case where the pixel abnormality of the bright spot is detected by using the actual image.

In this case, the information processing unit 31 outputs when the light of the light source 22 is irradiated and the exposure time of the image sensor 12 is set to the first exposure time in which the pixel value of the image sensor 12 is saturated with the light of the light source 22. Since the extinction point of the output image is detected based on the image, the extinction point can be detected with high accuracy.
Further, since the information processing unit 31 detects the bright spot of the output image based on the output image when the light source 22 is turned off and the exposure time of the image sensor 12 is set to the second exposure time which is the minimum value. , Bright spots can be detected with high accuracy.

Further, the output image of the in-vehicle camera 11 is an image of a moving image in which a frame image for abnormality detection to be an abnormality detection process is mixed, and the frame image for abnormality detection is an image for abnormality detection. Since the indicated image identification number (corresponding to the identification information) is added, the pixel abnormality can be detected while shooting a moving image, and the image for detecting the abnormality can be easily specified.
In addition, since the frame image for abnormality detection that is the target of abnormality detection processing is output at the start of shooting, pixel abnormality can be detected at an early timing when the shot image is used for an electronic mirror or automatic operation. .. Therefore, it is possible to effectively prevent the situation where the use of the electronic mirror or the automatic operation is continued with the pixel abnormality.

Further, not limited to the start of shooting, the frame image for abnormality detection is continuously output at time intervals while the vehicle-mounted camera 11 is shooting a moving image. Therefore, the presence or absence of pixel abnormality can be continuously monitored during shooting. As a result, when a pixel abnormality occurs during shooting, the pixel abnormality can be detected in substantially real time, and it becomes easy to take appropriate measures. In other words, it can be ensured that the quality of the captured image (the captured image has no pixel abnormality) is maintained while the pixel abnormality is not detected.

The above embodiment is merely an example of an embodiment of the present invention, and can be arbitrarily modified and applied without departing from the spirit of the present invention.
For example, the information processing unit 31 may be in an electronic mirror system or an automatic driving system. Further, the vehicle-mounted camera 11 and the information processing unit 31 may be integrated.

Further, the case where the present invention is applied to an in-vehicle photography system 1, an in-vehicle photography unit (in-vehicle camera 11), an in-vehicle information processing unit 31, and an abnormality detection method of the in-vehicle camera 11 has been described, but the present invention is not limited thereto. .. INDUSTRIAL APPLICABILITY The present invention can be applied to an abnormality detection method for an imaging system, an imaging unit, an information processing unit, and an imaging unit other than those mounted on a vehicle.
Further, although the case of using a shooting unit for shooting a moving image has been described, a shooting unit for shooting a still image may be used. For example, an image abnormality occurring in a single-lens reflex type digital camera or the like may be detected by the present invention.

Further, FIG. 1 shows the functional blocks of the vehicle-mounted camera 11 and the information processing unit 31, and each of the functional blocks may be realized by hardware or realized by the cooperation of hardware and software. It may be configured.
Further, the processing units of the flowcharts shown in FIGS. 2 and 4 are divided according to the main processing contents in order to facilitate understanding of the processing. The invention of the present application is not limited by the method and name of division of the processing unit. That is, each process can be further divided into more process steps according to the process content. It is also possible to divide one processing step so as to include more processing.

1 Shooting system 11 Shooting unit (vehicle-mounted camera)
12 Image sensor 13 Case 15 Lens unit 16 Light receiving unit 17 Photoelectric conversion unit 18 Image processing unit 19, 34 Image data output unit 20 Exposure time control unit 21 Camera control unit 22 Light source 31 Information processing unit (abnormality detection unit)
32 Image data input unit 33 Image data judgment unit (information processing unit)
35 Image data abnormality judgment unit (information processing unit)
36 Signal output section

Claims (8)

In a shooting system including an image sensor and a case for accommodating the image sensor so that an image outside the case can be shot.
A light source arranged in the case and irradiating the light receiving portion of the image sensor with light that makes the destructive point of the image sensor manifest.
It is provided with an abnormality detection unit that performs an abnormality detection process for detecting a pixel abnormality in the output image based on the output image of the image sensor when the light of the light source is irradiated .
The output image is an image of a moving image in which a frame image for abnormality detection to be the target of the abnormality detection process is mixed, and the frame image for abnormality detection is identification information indicating that the image is an image for abnormality detection. A shooting system characterized by the addition of. An exposure time control unit for controlling the exposure time of the image sensor is provided.
The frame image for anomaly detection includes the output image when the exposure time is controlled to a set exposure time that makes the bright spot of the image sensor manifest.
The first aspect of the present invention is characterized in that, as the abnormality detection process , the abnormality detection unit further detects a pixel abnormality in the output image based on the output image when controlled to the set exposure time. Shooting system. The frame image for abnormality detection is the first exposure time when the light of the light source is irradiated and the exposure time of the image sensor is set to the first exposure time in which the pixel value of the image sensor is saturated with the light of the light source. The output image and the output image when the light source is turned off and the exposure time of the image sensor is set to the minimum value of the second exposure time are included.
As the abnormality detection process, the abnormality detection unit detects a dead point of the output image based on the output image when the first exposure time is set, and the output when the second exposure time is set. The photographing system according to claim 2, wherein the bright spot of the output image is detected based on the image . The imaging system according to any one of claims 1 to 3, wherein a frame image for detecting an abnormality is output at the start of imaging of the image sensor. The imaging system according to any one of claims 1 to 4, wherein the frame image for abnormality detection is continuously output at intervals of time while imaging is performed by the image sensor. In a shooting unit including an image sensor and a case for accommodating the image sensor so that an image outside the case can be shot.
The light receiving portion of the image sensor, which is arranged in the case, has a light source that irradiates light that makes the destructive point of the image sensor manifest, and is an output image of the image sensor when the light of the light source is irradiated. At least output,
The output image is an image of a moving image in which a frame image for abnormality detection used for detecting a pixel abnormality in the output image is mixed, and the frame image for abnormality detection is an image for abnormality detection. A shooting unit characterized by having identification information added. In an information processing unit including an input unit for inputting an image and an information processing unit for processing the input image.
The input unit inputs at least the output image when the light of the light source is irradiated from the photographing unit according to claim 6.
The information processing unit identifies the frame image for abnormality detection based on the identification information of each frame image included in the input output image, and outputs the output based on the identified frame image for abnormality detection. An information processing unit characterized by performing anomaly detection processing for detecting pixel anomalies in an image. In a method for detecting an abnormality in an imaging unit including an image sensor and a case that accommodates the image sensor so that an image outside the case can be captured.
From the light source arranged in the case, the light receiving portion of the image sensor is irradiated with light that makes the destructive point of the light receiving portion manifest.
Based on the output image of the image sensor when the light of the light source is irradiated, an abnormality detection process for detecting a pixel abnormality in the output image is performed.
The output image is an image of a moving image in which a frame image for abnormality detection to be the target of the abnormality detection process is mixed, and the frame image for abnormality detection is identification information indicating that the image is an image for abnormality detection. An abnormality detection method for an imaging unit, which is characterized by the addition of.

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