JPH06229739A - Environment recognizing system based on image processing - Google Patents

Abstract

PURPOSE:To allow the easy and correct recognition of the three-dimensional conditions of an object with respect to an imaging section by synthesizing a focal distance data, an image signal data read out from a memory section and a distance data of a specific position thereby forming an image information data. CONSTITUTION:Position in an image formed on a screen based on a corresponding image signal data is specified for each part of a sorted image signal data. A focal point control section then controls a focal point adjusting mechanism to match the focal point of an optical system 13 at an imaging section 12 with a specific position of an object corresponding to thus specified position. At that time, focal distance of the optical system 13 at the time of matching the focal point with the specific position of the object, i.e., a focal distance data representative of the distance from the imaging section 12 to the specific position of the object, is obtained. The focal distance data is synthesized with the image signal data and the distance data relevant to a specific position thus forming an image information data.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention forms video signal data based on an image pickup output signal obtained by an image pickup operation of an image pickup section, and based on the video signal data, a three-dimensional situation of an image pickup target. The present invention relates to an environment recognition device based on image processing that is capable of recognizing objects.

[0002]

2. Description of the Related Art In order to measure the distance between two specific objects located relatively far from an observer, two specific objects are separated from each other by two image pickup devices arranged at predetermined intervals. There is a method of performing imaging based on information about two specific objects obtained from a reproduced image based on a video signal derived from each imaging device and the distance between the two imaging devices. Proposed. Such a method uses two image pickup devices to recognize the three-dimensional situation of an image pickup target for them. For example, Japanese Patent Laid-Open No. 64-44512 discloses that the image pickup device is installed in a vehicle. There has been disclosed an attempt to grasp a three-dimensional condition of a road surface in front of the vehicle and its surroundings by using two image pickup devices directed to the front of the vehicle.

[0003]

As described above, when three-dimensionally recognizing an object to be imaged by using two image pickup devices, it is necessary to properly perform the recognition. It is required that the two reproduced images based on the video signals respectively derived from the above are placed in an accurate mutual matching state. However, it is technically extremely difficult to put two reproduced images based on video signals respectively derived from the two image pickup devices in an accurate mutual matching state, and therefore, the two image pickup devices are used. Conventionally, the three-dimensional recognition of the imaging target under such a condition is not always properly performed.

In view of the above point, the present invention forms video signal data based on an image pickup output signal obtained by performing an image pickup operation by the image pickup section, stores it in a memory section, and stores it in the memory section. The three-dimensional situation of the imaging target with respect to the imaging unit can be easily and properly recognized by using the one image capturing unit by using the captured image signal data, and the two-dimensional position between the two specific positions in the imaging target can be recognized. It is an object of the present invention to provide an environment recognition device by image processing, which is capable of appropriately measuring a distance.

[0005]

In order to achieve the above-mentioned object, an environment recognition apparatus by image processing according to the present invention is an image pickup section having an optical system provided with a focus adjustment mechanism, and a fixed focus state by the image pickup section. In addition to a video signal data forming unit that obtains video signal data based on an image pickup output signal obtained by performing an image pickup operation under the following conditions, and a memory unit that stores the video signal data obtained from the video signal data forming unit Then, the brightness level represented by the video signal data sequentially read from the memory unit is compared with a plurality of preset brightness level ranges, and the brightness level represented by the video signal data belongs to one of the plurality of brightness level ranges. The brightness level that classifies the detected video signal data part and classifies the detected video signal data part according to the brightness level range to which the brightness level An image position specifying unit that specifies a position in the screen image obtained based on the video signal data from the video signal data forming unit, to which the judging unit and the part of the video signal data classified by the brightness level judging unit correspond, respectively. And a focus control that controls a focus adjustment mechanism provided in the optical system so that the focus of the optical system in the imaging unit is adjusted to a specific position in the imaging target corresponding to the position in the screen image specified by the image position specifying unit. Section, a focal length data forming section that obtains focal length data representing the focal length of the optical system when the focus of the optical system is adjusted to a specific position in the imaging target, and video signal data and focus stored in the memory section. Based on the focal length data obtained by the distance data forming unit, image information data including distance data that enables recognition of a three-dimensional situation in the imaging target is generated. Constructed and an that the image information data forming section.

[0006]

In the environment recognition apparatus for image processing according to the present invention configured as described above, the image signal data forming section is formed based on the image pickup output signal obtained from the image pickup section and stored in the memory section. When the video signal data is sequentially read from the memory unit, the brightness level determination unit detects a portion representing a brightness level belonging to a plurality of preset brightness level ranges, and classifies the brightness level range according to the brightness level range. . Then, the image position specifying unit specifies the position in the screen image obtained based on the video signal data from the video signal data forming unit, to which each of the classified video signal data parts corresponds. Then, the focus adjustment mechanism is controlled by the focus control unit so as to focus the optical system in the imaging unit at a specific position in the imaging target corresponding to the specified position in the screen image, and at that time, focal length data formation is performed. From the section, focal length data representing the focal length of the optical system when the focus of the optical system is adjusted to a specific position in the image capturing target, that is, the distance from the image capturing unit to the specific position in the image capturing target, In the image information data forming unit, the focal length data is combined with the video signal data read from the memory unit as distance data for a specific position to form image information data.

The image information data obtained in this manner represents a screen image containing distance data relating to a specific position corresponding to a specific position in the object to be imaged.
Thereby, for example, when the image based on the image information data is reproduced by the image display unit, it is possible to easily and properly recognize the three-dimensional situation of the imaging target, and further, based on the distance data, It is assumed that the distance between the two specific positions can be properly measured.

[0008]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows an example of an environment recognition device by image processing according to the present invention.

In the example shown in FIG. 1, a video camera 11 is provided, and this video camera 11 has a light-receiving / photoelectric conversion surface forming section, and is charge-coupled.
It has a solid-state imaging unit 12 which is supposed to perform charge transfer by a device (CCD), and an optical system 13 arranged in front of it, which includes a lens system provided with a focus adjustment mechanism, an aperture mechanism, and the like. is doing. The optical system 13 is provided with a focus adjustment mechanism drive unit 14 that drives the focus adjustment mechanism.

In such a video camera 11, the light from the object to be imaged is made incident on the light receiving / photoelectric conversion surface forming portion of the solid-state image pickup portion 12 through the optical system 13 to receive the light.
An image of the imaging target is projected on the photoelectric conversion surface forming unit with a predetermined image magnification. In the light receiving / photoelectric conversion surface forming unit of the solid-state imaging unit 12, photoelectric conversion is performed in response to incident light through the optical system 13 to accumulate signal charges, and the accumulated signal charges are performed in a predetermined manner. CCD
Is sequentially transferred to the output unit of the solid-state imaging unit 12. As a result, an image pickup output signal Q corresponding to the image of the image pickup target projected on the light receiving / photoelectric conversion surface forming unit is obtained at the output unit of the solid-state image pickup unit 12 based on the signal charges sequentially transferred thereto. However, in actual operation, first, the optical system 13 adjusted by the focus adjustment mechanism is used.
The image pickup operation is performed while the focal length of is fixed to a predetermined value, and the image pickup output signal Q corresponding to the image pickup target at that time is sent from the output unit of the solid-state image pickup unit 12.

The image pickup output signal Q obtained from the output section of the solid-state image pickup section 12 is supplied to the video signal data forming section 15. The video signal data forming unit 15 includes an analog / digital (A / D) conversion unit 16 to which the image pickup output signal Q is directly supplied and an image pickup output processing unit 17. A / D converter 1
6, the image pickup output signal Q is subjected to analog-digital conversion to obtain a digital image pickup output signal DQ.
Is formed. Then, this digital imaging output signal D
Q is supplied to the imaging output processing unit 17, and the imaging output processing unit 1
7, digital video signal data DV corresponding to a video signal having a line frequency of about 15.75 Hz and a field frequency of 60 Hz is formed based on the digital imaging output signal DQ, which is the imaging output processing unit 17 Is output to the output end of the video signal data forming unit 15.

The digital video signal data DV obtained at the output end of the video signal data forming section 15 is supplied to the video signal data memory section 18. Video signal data memory unit 1
8 is a memory write control signal W from the memory control unit 20.
A is also supplied, and the digital video signal data DV corresponding to one field period or one frame period (two consecutive field periods) of the video signal is written in the video signal data memory unit 18 according to the memory write control signal WA. Stored. The digital video signal data DV stored in the video signal data memory unit 18 in this manner
Represents a screen image PO, for example, as shown in FIG. 2, which corresponds to the imaging target of the video camera 11. In the screen image PO, the parts IA, IB and IC
Have different brightness levels from each other,
The luminance level of the portion IA is higher than that of the portion IB, and the luminance level of the portion IB is higher than that of the portion IC.

Thereafter, the video signal data memory section 18 is supplied with the memory read control signal RA from the memory control section 20, and the digital video signal data DV is read from the video signal data memory section 18 in accordance with the memory read control signal RA. At this time, the memory read control signal RA is designed to sequentially specify memory addresses so as to determine the read position in the video signal data memory unit 18, and accordingly, the screen image PO as shown in FIG. 2 is displayed. The portions of the digital video signal data DV that are represented correspond to the points specified by the positions h1 to hm in the horizontal direction (direction of arrow H) and the positions v1 to vn in the vertical direction (direction of arrow V) in the screen image PO. It is read out sequentially. The reading order in that case is, for example, first, a digital image corresponding to m points arranged in the horizontal direction in which the position v1 is taken in the vertical direction in the screen image PO and the positions h1 to hm are taken in the horizontal direction. The portion of the signal data DV is sequentially read from the portion corresponding to the horizontal position h1 to the portion corresponding to the horizontal position hm. Next, the m arranged in the horizontal direction has the position v2 in the vertical direction and the positions h1 to hm in the horizontal direction.
The portions of the digital video signal data DV corresponding to the respective points are sequentially read out from the portion corresponding to the horizontal position h1 to the portion corresponding to the horizontal position hm. In the same manner, the positions of the digital video signal data DV corresponding to the m number of points arranged in the horizontal direction, which take the position vn in the vertical direction and the positions h1 to hm in the horizontal direction, respectively, are sequentially read. Be seen.

The digital video signal data DV read from the video signal data memory section 18 is supplied to the brightness level discriminating section 21. In the brightness level determination unit 21, the horizontal position h1 to hm and the vertical position v1 to vn of the digital video signal data DV read from the video signal data memory unit 18 in the screen image PO.
The brightness level represented by the portion corresponding to each point specified by is the brightness level range (1) set in advance,
The luminance level data LA, LB, and LC corresponding to the comparison result are sent out after being compared with each of (2) and (3). In the preset brightness level ranges (1), (2) and (3), the brightness level range (1) is higher than the brightness level range (2) and the brightness level range (2) is the brightness level range (3). ), The brightness level of the part IA in the screen image PO belongs to the brightness level range (1), and the part IB in the screen image PO has a higher level, as shown in FIG. Of the partial image in the screen image PO belongs to the brightness level range (3).

The brightness level represented by the portion of the digital video signal data DV which is compared with each of the brightness level ranges (1), (2) and (3) belongs to the brightness level range (1). When the luminance level data LA represents "1" and the luminance level data LB and LC both represent "0", the luminance level belongs to the luminance level range (2). When the data LB represents "1" and the brightness level data LA and LC both represent "0", and the brightness level data LC belongs to the brightness level range (3), the brightness level data LC is "1". The luminance level data LA and LB are both represented as "0", and the luminance level ranges (1), (2) and ( In any even when let genus),
Each of the brightness level data LA, LB and LC represents "0".

Therefore, when a portion of the digital video signal data DV corresponding to the portion IA in the screen image PO is read from the video signal data memory unit 18 and supplied to the brightness level discriminating unit 21, A portion of the digital video signal data DV corresponding to the portion IA in the screen image PO is detected, and accordingly, the luminance level discriminating unit 21 outputs the luminance level data LA representing "1" and the luminance level data LB representing "0". And LC
And a portion of the digital video signal data DV corresponding to the portion IB in the screen image PO is read out and supplied to the brightness level discriminating unit 21,
A portion of the digital video signal data DV corresponding to the portion IB in the screen image PO is detected, and accordingly, the luminance level determination unit 21 causes the luminance level data LB representing “1” and the luminance level data representing “0”. LA and LC are obtained, and digital video signal data D
When a portion of V corresponding to the partial IC in the screen image PO is read out and supplied to the brightness level discriminating unit 21, a portion of the digital video signal data DV corresponding to the partial IC in the screen image PO. Is detected,
Accordingly, the brightness level discriminator 21 obtains the brightness level data LC representing "1" and the brightness level data LA and LB representing "0", which is the portion of the digital video signal data DV and is the screen image PO. When a part which does not correspond to any of the parts IA, IB and IC in is read out and supplied to the brightness level discriminator 21, the brightness level discriminator 21 outputs brightness level data LA, LB and LC will be obtained. As a result, the brightness level determination unit 21 sets the brightness levels represented by the digital video signal data DV sequentially read from the video signal data memory unit 18 in the preset brightness level ranges (1), (2) and (3). Compared to each of the
The brightness level is in the brightness level range (1), (2) and (3)
Of the digital video signal data DV belonging to any one of the above, and a brightness level range (1), (2) or (3) to which the brightness level representing the detected digital video signal data part belongs. It is supposed that the operation of classifying separately is performed.

The brightness level data LA, LB and LC obtained from the brightness level discriminator 21 are supplied to the AND gate unit 2.
2, 23 and 24 are respectively supplied to one of the input terminals. To the other of the input ends of the AND gates 22, 23 and 24, memory addresses are sequentially designated so as to determine a read position in the video signal data memory unit 18 from the memory control unit 20. The read control signal RA is supplied via the delay unit 25. The delay time by the delay unit 25 corresponds to the processing time for the digital video signal data DV in the brightness level determination unit 21. At the output terminal of the AND gate unit 22, the memory read control signal RA is derived when the brightness level data LA represents "1", and the memory read control signal RA is derived when the brightness level data LA represents "0". Not done. Similarly, at the output terminal of the AND gate unit 23, the memory read control signal RA is derived when the brightness level data LB represents "1", and the memory read control signal RA is derived when the brightness level data LB represents "0". The signal RA is not derived, and at the output end of the AND gate unit 24, when the brightness level data LC represents "1", the memory read control signal RA is derived and the brightness level data LC represents "0". Sometimes, memory read control signal RA is not derived.

Therefore, when a portion of the digital video signal data DV corresponding to the portion IA in the screen image PO is read out from the video signal data memory portion 18, it is output to the output end of the AND gate portion 22. A memory read control signal RA representing a memory address corresponding to the read position of the video signal data memory unit 18 is derived, and a portion of the digital video signal data DV from the video signal data memory unit 18 in the screen image PO. When a signal corresponding to IB is read, a memory read control signal RA representing a memory address corresponding to the read position of the video signal data memory section 18 at that time is derived from the output end of the AND gate section 23, and further, the video is read. From the signal data memory section 18, the portion of the digital video signal data DV Part IC in the screen image PO
When the corresponding one is read, the AND gate unit 2
4 to the output end of the video signal data memory unit 18 at that time
A memory read control signal RA representing a memory address corresponding to the read position of is derived.

In this way, the AND gate sections 22, 2
The memory read control signal RA derived to the output terminals of 3 and 24 is supplied to the memory units 26, 27 and 28, respectively. A memory write control signal WB from the memory control unit 20 is also supplied to each of the memory units 26, 27 and 28,
According to the memory write control signal WB, the memory read control signal RA is written and stored in each of the memory units 26, 27 and 28.

After that, the memory control unit 20 is added to the memory unit 26.
From the memory unit 26, the memory read control signal RA is read from the memory unit 26 in accordance with the memory read control signal RBA, and is supplied to the memory address-image position conversion unit 30. In the memory address-image position conversion unit 30, image position designation data XA representing the portion IA in the screen image PO corresponding to the memory address represented by the memory read control signal RA from the memory unit 26 is formed, and Are supplied to the focus adjustment mechanism drive signal forming unit 31. In the focus adjustment mechanism drive signal forming section 31, based on the image position designation data XA, the partial IA in the screen image PO represented by it.
The focus adjustment mechanism drive signal SXA for driving the focus adjustment mechanism provided in the optical system 13 in order to adjust the focus of the optical system 13 in the video camera 11 to a specific position in the imaging target of the video camera 11 corresponding to It is formed.
Then, the focus adjustment mechanism drive signal SXA obtained from the focus adjustment mechanism drive signal forming unit 31 is supplied to the focus adjustment mechanism drive unit 14 in the video camera 11 via the addition unit 32.

As a result, the focus adjustment mechanism drive unit 14
The video camera 1 that drives the focus adjusting mechanism provided in the optical system 13 according to the focus adjusting mechanism drive signal SXA so that the focus of the optical system 13 corresponds to the part IA in the screen image PO.
It is brought into a state of being aligned with a specific position in the image pickup target of No. 1. Such a state corresponds to a state where the portion IA in the screen image PO is in focus (intersection point of orthogonal broken lines), as shown in A of FIG. At this time, the focus adjustment mechanism drive unit 14 supplies the focus state detection signal SF corresponding to the operating state of the focus adjustment mechanism to the focal length data forming unit 33, and the focus state data forming unit 33 has the focus state detection signal SF. Based on the detection signal SF, the focus of the optical system 13 is adjusted to a specific position in the imaging target of the video camera 11 corresponding to the portion IA in the screen image PO,
Focal length data DF representing the focal length f of the optical system 13
Is formed and is supplied to and held in the image information data forming unit 35. The focal length f of the optical system 13 at this time is, for example, 5 m (f = 5 m).

Subsequently, when a predetermined short time has elapsed after the memory read control signal RBA was supplied from the memory control unit 20 to the memory unit 26, the memory control unit 20 is added to the memory unit 27.
From the memory section 27, the memory read control signal RA is read from the memory section 27 according to the memory read control signal RBB, and is supplied to the memory address-image position conversion section 36. In the memory address-image position conversion unit 36, based on the memory read control signal RA from the memory unit 27, image position designation data XB representing the portion IB in the screen image PO corresponding to the memory address represented by the memory read control signal RA is formed. Are supplied to the focus adjustment mechanism drive signal forming unit 37. In the focus adjustment mechanism drive signal forming unit 37, based on the image position designation data XB, the partial IB in the screen image PO represented by the image position designation data XB.
The focus adjustment mechanism drive signal SXB for driving the focus adjustment mechanism provided in the optical system 13 in order to adjust the focus of the optical system 13 in the video camera 11 to the specific position in the imaging target of the video camera 11 corresponding to It is formed.
Then, the focus adjustment mechanism drive signal SXB obtained from the focus adjustment mechanism drive signal forming unit 37 is supplied to the focus adjustment mechanism drive unit 14 in the video camera 11 via the addition unit 32.

As a result, the focus adjustment mechanism drive unit 14
The video camera 1 that drives the focus adjusting mechanism provided in the optical system 13 according to the focus adjusting mechanism drive signal SXB so that the focus of the optical system 13 corresponds to the part IB in the screen image PO.
It is brought into a state of being aligned with a specific position in the image pickup target of No. 1. Such a state corresponds to a state in which the portion IB in the screen image PO is in focus (intersection point of orthogonal broken lines), as shown in FIG. 4B. At this time, the focus adjustment mechanism drive unit 14 supplies the focus state detection signal SF corresponding to the operating state of the focus adjustment mechanism to the focal length data forming unit 33, and the focus state data forming unit 33 has the focus state detection signal SF. Based on the detection signal SF, the focus of the optical system 13 is adjusted to a specific position in the imaging target of the video camera 11 corresponding to the portion IB in the screen image PO,
Focal length data DF representing the focal length f of the optical system 13
Is formed and is supplied to and held in the image information data forming unit 35. The focal length f of the optical system 13 at this time is, for example, 100 m (f = 100 m).

Further, when a predetermined short time elapses after the memory read control signal RBB is supplied from the memory control unit 20 to the memory unit 27, the memory control unit 20 is added to the memory unit 28.
From the memory unit 28, the memory read control signal RA is read from the memory unit 28 according to the memory read control signal RBC, and is supplied to the memory address-image position conversion unit 38. In the memory address-image position conversion unit 38, based on the memory read control signal RA from the memory unit 28, image position designation data XC representing a partial IC in the screen image PO corresponding to the memory address represented by the memory read control signal RA is formed. Are supplied to the focus adjustment mechanism drive signal forming section 39. In the focus adjustment mechanism drive signal forming unit 39, the partial IC in the screen image PO represented by the image position designation data XC is displayed.
The focus adjustment mechanism drive signal SXC for driving the focus adjustment mechanism provided in the optical system 13 for adjusting the focus of the optical system 13 in the video camera 11 to the specific position in the imaging target of the video camera 11 corresponding to It is formed.
Then, the focus adjustment mechanism drive signal SXC obtained from the focus adjustment mechanism drive signal forming unit 39 is supplied to the focus adjustment mechanism drive unit 14 in the video camera 11 via the addition unit 32.

As a result, the focus adjustment mechanism drive unit 14
The video camera 1 that drives the focus adjustment mechanism provided in the optical system 13 according to the focus adjustment mechanism drive signal SXC so that the focus of the optical system 13 corresponds to the partial IC in the screen image PO.
It is brought into a state of being aligned with a specific position in the image pickup target of No. 1. Such a state corresponds to a state in which the partial IC in the screen image PO is in focus (intersection of orthogonal broken lines), as shown in FIG. 4C. At this time, the focus adjustment mechanism drive unit 14 supplies the focus state detection signal SF corresponding to the operating state of the focus adjustment mechanism to the focal length data forming unit 33, and the focus state data forming unit 33 has the focus state detection signal SF. Based on the detection signal SF, the focus of the optical system 13 is adjusted to a specific position in the imaging target of the video camera 11 corresponding to the partial IC in the screen image PO,
Focal length data DF representing the focal length f of the optical system 13
Is formed and is supplied to and held in the image information data forming unit 35. The focal length f of the optical system 13 at this time is, for example, 300 m (f = 300 m).

The image information data forming section 35 includes digital video signal data DV read from the video signal data memory section 18 and memory address-image position converting section 3.
The image position designation data XA, XB, and XC obtained from 0, 36, and 38, respectively, are also supplied. In the image information data forming unit 35, timings corresponding to the image position designation data XA, XB, and XC are added to the digital video signal data DV. Then, the focal length data DF are combined to form the image information data DZ. In this way, the image information data DZ obtained from the image information data forming unit 35 is the focal length data D for the portions IA, IB and IC in the screen image PO represented by the digital video signal data DV.
Focal length represented by F: f = 5 m, f = 100 m and f
= 300 m is set as the distance from the video camera 11, and the distance data associated with each is included. Therefore,
The image information data DZ is digital video signal data DV.
The portion I of the screen image PO in the imaging target of the video camera 11 that will obtain the screen image PO based on
The distance data about the specific positions corresponding to A, IB, and IC are included, so that the three-dimensional situation of the imaging target of the video camera 11 can be recognized.

Then, the image information data DZ obtained from the image information data forming unit 35 is supplied to the image display unit 40, and the image display unit 40 produces the image information data DZ as shown in FIG. Based screen images are obtained.
In the screen image obtained by the image display unit 40, the portions IA, IB, and IC are "5 m",
Distances of "100 m" and "300 m" are displayed, and the three-dimensional situation of the imaging target of the video camera 11 can be easily and properly recognized, and the parts IA and IB are also displayed.
Also, the mutual distance between ICs can be easily grasped.

[0028]

As is apparent from the above description, in the environment recognition apparatus by the image processing according to the present invention, the video signal formed based on the image pickup output signal obtained from the image pickup section and stored in the memory section. When the data is sequentially read from the memory unit, a portion representing the luminance level belonging to a plurality of preset luminance level ranges is detected and classified according to the corresponding luminance level range, and the classified video signal data portion The positions in the screen image obtained based on the video signal data corresponding to each of the above are specified, and then the optical system of the imaging unit is set to a specific position in the imaging target corresponding to the specified position in the screen image. The focus adjustment mechanism is controlled by the focus control unit to adjust the focus, and at that time, the optical system when the focus of the optical system is adjusted to a specific position in the imaging target. The focal length, that is, the focal length data representing the distance from the imaging unit to the specific position in the imaging target is obtained, and the focal length data is the video signal data read from the memory unit and the distance related to the specific position. Image information data is formed by being combined as data.

The image information data thus obtained represents a screen image including distance data regarding a specific position corresponding to the specific position in the image pickup object,
Thereby, for example, when the image based on the image information data is reproduced by the image display unit, it is possible to easily and properly recognize the three-dimensional situation of the imaging target, and further, based on the distance data, It is assumed that the distance between the two specific positions can be properly measured.

[Brief description of drawings]

FIG. 1 is a block configuration diagram showing an example of an environment recognition device by image processing according to the present invention.

FIG. 2 is a conceptual diagram provided for explaining the operation of the example shown in FIG.

FIG. 3 is a conceptual diagram provided for explaining the operation of the example shown in FIG.

FIG. 4 is a conceptual diagram for explaining the operation of the example shown in FIG.

FIG. 5 is a conceptual diagram provided for explaining the operation of the example shown in FIG.

[Explanation of symbols]

 11 video camera 12 solid-state imaging unit 13 optical system 14 focus adjustment mechanism drive unit 15 video signal data forming unit 16 A / D conversion unit 17 imaging output processing unit 18 video signal data memory unit 20 memory control unit 21 brightness level determination unit 22, 23, 24 AND gate section 26, 27, 28 Memory section 30, 36, 38 Memory address-image position conversion section 31, 37, 39 Focus adjustment mechanism drive signal forming section 33 Focal length data forming section 35 Image information data forming section 40 Image display section

Claims (2)

[Claims] 1. An image pickup unit having an optical system provided with a focus adjustment mechanism, and image signal data based on an image pickup output signal obtained by performing an image pickup operation under a fixed focus state by the image pickup unit. A video signal data forming unit, a memory unit in which the video signal data obtained from the video signal data forming unit is stored, and a plurality of brightness levels preset with brightness levels represented by the video signal data sequentially read from the memory unit. The portion of the video signal data in which the luminance level belongs to any one of the plurality of luminance level ranges is detected in comparison with the range, and the portion of the detected video signal data is detected. Level discriminating unit for discriminating by the luminance level range to which the luminance level represented by the above portion belongs, and the video signal data classified by the luminance level discriminating unit. The image position specifying unit that specifies the position in the screen image obtained based on the video signal data from the video signal data forming unit, and the focus of the optical system in the imaging unit is the image position. The focus of the optical system and the focus control unit that controls the focus adjustment mechanism provided in the optical system so as to match the specific position in the imaging target corresponding to the position in the screen image specified by the specifying unit Obtained by the focal length data forming unit that obtains the focal length data that represents the focal length of the optical system when it is adjusted to a specific position in the imaging target, and the video signal data and the focal length data forming unit that are stored in the memory unit. Image information data for obtaining image information data including distance data enabling recognition of a three-dimensional situation in the imaging target based on the focal length data Environment recognition device according to configured image processing comprises a forming unit. 2. The environment recognition device by image processing according to claim 1, further comprising an image display unit for reproducing an image based on the image information data obtained from the image information data forming unit.