JPH10206939A - Image pickup device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain the image of a subject at 360 deg. angle of circumference by simple structure. SOLUTION: This device is constituted of a one-dimensional image pickup element 14, a lens system 16 forming the image of the subject on the element 14 and a reflection mirror 17 provided so that its reflection surface may be inclined to the optical axis of the lens system 16. In such a case, the element 14 is provided to freely rotate at a point on the optical axis of the lens 15 of the lens system 16, and image data is transferred in synchronization with the rotation of the element 14 at every angle θ given by θ=2 × arctan (A.y')/2.B(A-C)}, provided that A: a distance from the lens to the subject, B: a distance from the lens to the one-dimensional image pickup element, C: a distance from the lens to the center of rotation on the optical axis, and y': the size of the image pickup element (in a direction perpendicular to a line direction).

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

[0001] 1. Field of the Invention [0002] The present invention relates to an image pickup apparatus capable of taking a 360-degree image around the apparatus using a one-dimensional image pickup device.

[0002]

2. Description of the Related Art Conventionally, various attempts have been made to record / reproduce an image closer to the state seen by human eyes over a wide range. For example, a normal 35 mm camera can only shoot in a predetermined range, but in order to obtain a wider-angle image, in the case of a subject such as a landscape, a method of connecting and viewing images taken by a normal camera, There is a so-called connecting panoramic photograph. According to this method, an image can be reproduced and viewed over 360 degrees around the camera.

Further, with the recent development of computer-related technology, there is a technique for actively reproducing a photographed image in a computer.
Such as TimeVR (Virtual Reality). Among them, a QuickTime VR Panor that shoots at a fixed angle about 360 degrees around the camera and reproduces the image on a computer screen
QuickTimeV which captures ama and 360 degrees around the subject at a predetermined angle and reproduces them on a computer screen
There are two types of R Object. This QuickTi
The shooting of the meVR Object is performed by repeating a procedure of placing a subject on a turntable or the like, turning the table at a predetermined angle, stopping the shooting, and shooting. However, when the subject is fixed or large like a building, it is necessary to move the camera around the subject to perform shooting.

[0004] The present invention provides a QuickTime VR Pa
The present invention relates to an imaging device that captures an image that can be viewed 360 ° around a camera like norama. Therefore, QuickTimeVR Pano based on FIG.
An example showing a rama viewing method will be described. FIG. 7 (a)
This is the initial screen displayed on the computer screen, and the hand mark in the figure is a cursor that is moved by operating a pointing device such as a mouse connected to the computer. When the user moves the cursor while pressing the button of the pointing device, that is, drags, the image displayed in conjunction therewith becomes an image with a different viewing angle as shown in FIG. 7B. If the user continues dragging, the image moves further and becomes as shown in FIG. As shown in FIGS. 7A to 7C, only the front panel of the vehicle is shown, but if the user continues dragging, the inside of the vehicle including the rear side can be viewed over 360 degrees. Further, when the user presses a predetermined button on the keyboard, the image can be enlarged or reduced in the same manner as when zooming the camera. This allows the user to check everything in the car while staying at home. In addition to such interiors of automobiles, travel agencies and the like also take pictures of landscapes and use them as moving pamphlets.

Next, a conventional method for photographing these images will be described. Connect multiple images for viewing,
In order to take a so-called joint panoramic photograph, a normal film exposure type camera or an electronic camera is used to rotate the photographer or the photographing device around a predetermined angle (for example, 30 degrees)
A method has been adopted in which a plurality of images (12 in the case of 30 degrees) are photographed by dividing each image and these are joined manually or by using an image processing technique. For example, as disclosed in Japanese Patent Application Laid-Open No. 7-199321, there is a camera body in which a plurality of images of a desired viewing angle are captured by detecting the attitude of the camera using a compass or an angular velocity sensor. This is because when the panorama shooting is selected by the mode selection switch, the display means in the viewfinder is activated, and the number of frames taken during the operation changes the camera attitude and the current attitude to an attitude composed of a compass or an angle sensor. The input from the detection means to the CPU for comparison, the calculation result is displayed on the display means, and when the photographer presses the release switch according to this display, the film feeding means is moved from the comparison result, and the roller of the film feeding amount detection means With this rotation, the mark is printed on the film by the identification mark printing means, and the pictures are connected according to the mark to make a panoramic picture.

[0006] In the case of QuickTimeVR, images taken at a predetermined camera position and orientation are similarly connected to form one image. However, in this case, the image is taken by a digital camera having an image sensor such as a CCD area sensor, or a print or film itself taken by a normal film exposure type camera is read by a scanner etc. After that, an image is created by a method of processing the data in a software manner.

Further, as an example of continuously taking a panoramic image of 360 degrees around an image pickup device, Japanese Patent Publication No. 5-5248 is an example.
There is a line scanning type panoramic camera described in Japanese Patent Publication No. This is for photographing inside a cylindrical tube,
It uses a rotating one-dimensional sensor, an imaging optical system, a multi-channel optical rotary joint, and the like.
Here, the structure and operation will be described with reference to FIG.
An image of the object surface 1 in the form of a cylindrical inner peripheral portion is formed on a line sensor 4 via a deflecting element 2 for bending a light beam by 90 degrees and a lens system 3. At this time, the camera head 5 composed of the deflecting element 2, the lens system 3, the line sensor 4, and the like is rotated by a rotation control circuit and a rotation driving mechanism so that the center axis of the object plane 1 (substantially coincides with the optical axis of the lens system 3). ), The rotation of the camera head unit 5 causes the line sensor 4 to sequentially capture an image of the subject surface 1 over a 360-degree circumference. On the other hand, a camera holder (not shown) is a multi-channel optical rotary joint 6 mounted on the upper part of the camera head.
, And is fixedly provided without rotating through. The multi-channel optical rotary joint 6 is configured by a photocoupler using a plurality of light guides concentrically, and exchanges data between the rotating camera head unit 5 and the non-rotating camera holding unit. This is performed in parallel in a non-contact state by the multi-channel optical rotary joint 6. A rotary encoder 7 is provided on the fixed side, and the rotation is controlled using the rotary encoder 7. Further, on the rotation side, an illumination light source for irradiating the object surface 1 is provided, and the object surface 1 is illuminated via a condenser lens 8, a prism 9, and an optical fiber 10.

[0008]

Since the conventional panoramic photographing method is based on an image photographed two-dimensionally by using a film or an area sensor, the photographing is manually performed after photographing, or image processing is performed. It is necessary to perform the connection with software that performs complicated processing, and image data cannot be easily created by anyone. In addition, since shooting is performed at fixed time intervals, if a moving object is included in the subject area, there is a problem that images of the moving object may be overlapped or missing at a joint. ing.

The technique disclosed in Japanese Patent Publication No. 5-52485 is intended for photographing inside a tube like an endoscope, and is effective when the object image distance can be considered to be constant to some extent. There is no description of the technical content that defines the resolution (resolution) of shooting an open space such as a panoramic picture.

Therefore, the present invention has been made to solve the above-mentioned problems of the prior art, and an object of the present invention is to transfer image data of 360 degrees around a photographer or a photographing device to special knowledge and Anyone can easily shoot without the need for technology and have sufficient resolution as a panoramic photo,
An object of the present invention is to provide a photographing apparatus which can continuously photograph a subject temporally.

[0011]

According to the first aspect of the present invention,
In an imaging apparatus including a one-dimensional image sensor, a lens system that forms an image of a subject on the one-dimensional image sensor, and a reflecting mirror whose reflection surface is provided to be inclined with respect to the optical axis of the lens system, The one-dimensional imaging device is provided rotatably about a point on the optical axis of the lens of the lens system, and in synchronization with this rotation, θ = 2 × arctan ｛(A · y ′) / 2 · B (A −
C) where A: distance from lens to subject B: distance from lens to one-dimensional image sensor C: distance from lens to rotation center on optical axis y ': size of image sensor (perpendicular to line direction) The image data is transferred for each angle θ given by: Therefore, by giving a specific relationship to the data transfer timing from the one-dimensional image sensor,
It is possible to perform 360-degree panoramic shooting with a sufficient resolution without performing the complicated operation of joining the two-dimensional images.

According to a second aspect of the present invention, there is provided a one-dimensional image sensor, a lens system for forming an image of a subject on the one-dimensional image sensor, and a reflection surface provided to be inclined with respect to the optical axis of the lens system. The one-dimensional image sensor is provided rotatably about a point on the optical axis of the lens of the lens system, and in synchronization with this rotation, θ = 2 × arctan ｛( A ・ y ′) / 2 ・ B (A−
C) where A: distance from lens to subject B: distance from lens to one-dimensional image sensor C: distance from lens to rotation center on optical axis y ': size of image sensor (perpendicular to line direction) The image data is transferred at every angle equal to or larger than the angle θ given by Therefore, an image having a necessary and sufficient resolution in the rotating direction can be obtained without taking extra time.

According to a third aspect of the present invention, the resolution (MT) of the lens at the spatial frequency of the arrangement pitch of the one-dimensional image sensor is described.
When F) is M (%), the angle serving as a reference for transferring the image data is set to an angle θ ′ given by θ ′ = θ / (M / 100). Therefore, an image having a necessary and sufficient resolution can be obtained.

According to a fourth aspect of the present invention, approximately one half of the effective pixels of the one-dimensional image pickup device are divided into two regions, and a reflecting mirror and a lens system are provided in opposition to each region, and the surrounding space opposes. An image is formed by simultaneously forming an area on another area of the one-dimensional image sensor. Therefore, the time required to capture the image of the surrounding space is reduced by half.
Or the rotation speed can be doubled.

[0015] The invention described in claim 5 is characterized in that one lens is commonly used as a lens to form an image on another area of the one-dimensional image sensor. Therefore, the structure of the device can be simplified.

The invention according to claim 6 is characterized in that the two areas of the one-dimensional image sensor have the image transfer directions opposite to each other. Therefore, there is no need to invert the image after shooting, and the structure of the apparatus can be simplified, and the processing after shooting can be simplified.

[0017]

FIG. 1 shows a first embodiment of the present invention.
This will be described with reference to FIG. First, the imaging device shown in FIG. 1 includes a fixing unit 11 and a driving source such as a motor (not shown).
And a rotating unit 12 rotatably mounted above the fixed unit 11. The rotating part 12 has one horizontal
A one-dimensional image sensor 14 such as a CCD line sensor in which image pixels 13 are arranged in a row, and a lens 15 for forming an image of a subject on the image pixels 13 of the one-dimensional image sensor 14
, And a reflecting mirror 17 inclined approximately 45 degrees with respect to the rotation axis of the rotating unit 12.
The one-dimensional imaging device 14 is fixed inside a rotating pedestal 18, and the lens system 16 and the reflecting mirror 17 are fixed inside a cylinder 19 fixed to the rotating pedestal 18. An opening 20 is formed in a side surface of the cylindrical body 19, and the opening 20 is covered with a cover glass 21.

In such a configuration, the one-dimensional imaging device 14 and the lens system 16
And the reflecting mirror 17 rotate integrally, and the one-dimensional imaging device 14
The surrounding image is continuously formed on the imaging pixel 13 of the, and this is taken out as an electric signal, whereby 36
A panoramic image of 0 degrees is obtained.

Next, the image forming relationship of this device will be described with reference to FIG. In the illustrated state, in order to clarify the image forming relationship, the reflecting mirror 17 that bends the optical path shown in FIG. 1 by 90 degrees is omitted. As a CCD line sensor that constitutes the color-compatible one-dimensional image pickup device 14, an RG
A one-line type in which filters corresponding to B are arranged in order,
There are generally known two types of three-line type in which RGB filters are arranged for each pixel array in a column. FIG. 2 shows an example in which the latter three-line type CCD line sensor is used. Assuming that the focal length of the lens system is f, the distance from the subject to the lens system 16 is A, and the distance from the lens system 16 to the CCD light receiving surface is B, 1 / B = 1 / f + 1 / A (1) Further, the pixel size y '(in the direction perpendicular to the array) of the CCD light receiving surface is y = A / B * y' on the subject surface.

This relationship relates to the CCD pixel corresponding to G (green) located at the center.
The arrangement pitch of RGB is generally about 100 microns, and can be regarded as sufficiently small. Therefore, the same relationship holds for R (red) and B (blue).

Next, when there is such an image forming relationship, consider the rotation of the lens system 16 and the one-dimensional image sensor 14 about the rotation axis in FIG. If the bending by the reflecting mirror 17 is omitted as in the case of FIG. 2, the rotation about the rotation axis in FIG. 1 is as shown in FIG. That is, the centers of the subject, the lens system 16 and the pixel of the one-dimensional image sensor 14 are all on the plane in the plane of the paper, and can be regarded as a rotation in a plane centered on a position separated from the lens 15 by C. The position C of the rotation center is specifically the position of the reflecting mirror 17.

Under these conditions, FIG. 3 and equations (1) and (2)
Accordingly, when the rotation angle θ is set to be θ = 2 × arctan {(y / 2) / (AC)} (3), the image of the one-dimensional image sensor 14 in the object space before rotation is set. Is completely adjacent to the rotated image y. That is, by performing line imaging for each rotation angle θ, the imaging space (360 degrees around the apparatus) can be covered without interruption.

Equation (3) means that a region corresponding to an angle smaller than θ cannot be resolved. Therefore, unnecessary data is not obtained by performing the data transfer timing in the one-dimensional imaging device 14 in synchronization with the rotation of the rotating unit 12 at the timing of the angle θ or at each angle equal to or greater than the angle θ. . Note that the angle θ may be set based on the resolution required for the image obtained during actual use.

The apparatus of the present embodiment is disclosed in Japanese Patent Publication No. 5-524.
It is not limited to photographing inside a tube as in the example of JP-A-85. Therefore, it is also applicable to a case where the position of the subject can be considered to be sufficiently far and infinite as in a landscape. Therefore, a case where the subject distance A becomes ∞ in Expression (3) will be described. First, it is determined from the equation (2) that A = B × y × y ′. If the subject distance A is ∞, the equation (3) is as follows: θ = 2 × arctan ｛(y ′ / 2) / B｝ (4) and becomes independent of the rotation center position C. This rotation center position is, as described above, the position of the reflecting mirror 17, and the expression (4) indicates that when the subject is far away,
Indicates that the location is the same everywhere,
The arrangement position of the reflecting mirror 17 depends on the design of the device (for example,
(Mechanical convenience or compactness).

In the above-described embodiment, the minimum angle θ that can be decomposed is determined from the relationship between the geometric size and the lateral magnification of the lens system 16 used for the pixel size of the one-dimensional image pickup device 14. As a factor, the resolution (M
TF) is involved. If the resolution of the lens 15 at the pixel array pitch of the one-dimensional image sensor 14 is not sufficient, the image obtained at the angle θ obtained by the expressions (3) and (4) is coarse due to the performance of the lens system and has a minimum rotation. The corners will be too fine. Therefore, the minimum rotation angle θ ′ in consideration of the resolution is expressed by the following equation (5).

Θ ′ = θ / (M / 100) (5) where M is the resolution (MTF) of the lens system 16 at a spatial frequency corresponding to the pitch of the one-dimensional image pickup device 14 and is%.
Given by Therefore, if image transfer is performed at the angle θ ′ or the angle θ ′ or more, sufficient image data can be obtained without time loss.

When a three-line type CCD area sensor is used as the one-dimensional image pickup device 14, an image obtained at a certain rotation angle (or at a certain time) of the rotation unit 12 is the same as that of the aforementioned line. RG by position difference
This means that an image at a different position is shot at B. Therefore, if it is reproduced as an image as it is, an image having a color shift will occur. This problem is caused, for example, by providing a buffer for about 10 lines corresponding to the positional shift of the pixels of each color in the CCD driving circuit. , A method of correcting and outputting the time corresponding to the positional deviation, or after extracting the data, for example,
It can be dealt with by a method of shifting digitally uniformly.

Next, a second embodiment of the present invention will be described with reference to FIG. Generally, a CCD color line sensor is used as an image scanner or the like,
For example, it is used for capturing a color image printed on A4 size paper via a reduction optical system. This reading is performed, for example, at a resolution of 300 DPI. Therefore, a CCD color line sensor having a number of pixels of, for example, 2700 pixels per RGB color is commercially available. On the other hand, the number of pixels in one direction of a two-dimensional image handled by an ordinary personal computer or the like is often about several hundred. That is, for example, if there are 500 pixels in one direction (per color), it can be said that the image is a practical natural image. Therefore, in the configuration shown in FIG. 4, the one-dimensional imaging device 14 is the same as that of the first embodiment, and the arrangement direction of the imaging pixels 13 of the one-dimensional imaging device 14 is divided into two right and left directions. , Two optical systems each including a lens system 16 and a reflecting mirror 17 are disposed so as to face each other. In other words, the subject areas 1 and 2 facing each other by 180 degrees in the space around the rotating unit 12 are simultaneously imaged and captured at different locations on the one-dimensional image sensor 14.

In such a configuration, a panoramic image can be captured by integrally rotating the one-dimensional image sensor 14, the lens system 16, and the reflecting mirror 17. In the embodiment shown in FIG. 1, the rotation unit 12 rotates 360 degrees to perform full-circle shooting, but in the present embodiment, it is possible to capture image data for the entire circumference by rotating 180 degrees. That is, an image with twice the shooting speed or twice the resolution as compared with the previous example can be obtained.

FIG. 5 shows a third embodiment. That is, although two optical systems are used, it is the same as that shown in FIG.
In the present embodiment, the lens 15 of the lens system 16 is integrated into one. In this case, it is desirable that the angle of the reflecting mirror 17 with respect to the optical axis of the lens system 16 is not 45 degrees. That is, the angle of the reflecting mirror 17 can be determined so that, for example, a straight line in which the center line of the image area passes through the center (principal point) of the lens 15 is horizontal after reflection. With this determination, the image of the image area (array of pixels) in the subject areas 1 and 2 is inclined as shown in the figure, but the vertical plane as shown in FIG. There is no problem even when shooting, as long as it is within the range of the depth of focus. Thus, with one lens system 16, that is, with a small number of parts, as in the case of FIG.
7 and the lens system 16 and the one-dimensional image sensor 14
By rotating by 80 degrees, an image corresponding to 360 degrees is obtained. In addition, the use of one lens system 16 makes it possible to set the lens system 16 to be rotationally symmetrical with respect to the rotation axis. As a result, the lens 15 of the lens system 16 can be fixedly installed without rotating. Furthermore, the fact that the lens 15 does not need to be rotated not only simplifies the configuration of the apparatus, but also facilitates the linear movement of the lens system 16 corresponding to zooming and the like. It also has

Next, the configuration of the one-dimensional image sensor 14 will be described with reference to FIG. In the example shown in FIGS. 4 and 5 in which the pixels of the one-dimensional image sensor 14 are divided and used, the vertical relationship is reversed in the pixel regions of the image sensor corresponding to the individual subject areas 1 and 2. There's a problem. That is, in the example of FIG.
The upper side of the image 4 is imaged on the left, and the lower side is imaged on the right. On the contrary, the image of the object area 2 is formed on the upper side on the right and on the lower side on the left. Therefore, when this is photographed using a conventional CCD line sensor in which pixels are arranged in one column (per color), the CCD line sensor first outputs an image of the subject area 1 from the upper side, and thereafter, The image of the subject area 2 is output from below. In order to return the image to the normal orientation, it is necessary to temporarily store the image in a memory and output the image in reverse, or to output all the images and then digitally invert the image at once. Therefore, FIG.
The method using the one-dimensional image sensor 14 as described in (1) is extremely effective. FIG. 6 is a perspective view of a three-line CCD sensor suitable for a device that simultaneously captures images of opposing regions. Basically, as in a normal three-line CCD sensor, three rows of pixels are used. Are arranged, and RGB filters are provided corresponding to the respective filters. Each pixel row is divided into two in the arrangement direction, and the transfer direction of the image by the CCD analog shift register is set so as to be from the inside to the outside as indicated by the arrow in each area. Therefore, even in the case described with reference to FIG. 4, the output images have the same orientation. Also, RG
The filters in B are not the same in a row, as shown in the figure.
If R1 and B2 and B1 and R2 are arranged side by side, color information can be obtained in the same order with respect to the rotation direction of the rotating unit 12. Further, in the case of this CCD sensor, the processing speed can be improved by using six channels in accordance with the division instead of the three-channel output corresponding to RGB.

[0032]

According to the first aspect of the present invention, there is provided a one-dimensional imaging device, a lens system for forming an image of a subject on the one-dimensional imaging device, and a reflecting surface inclined with respect to an optical axis of the lens system. The one-dimensional imaging device is provided rotatably about a point on the optical axis of the lens of the lens system, and in synchronization with the rotation, θ = 2 × arctan ｛(A ・ y ′) / 2 ・ B (A−
C) where A: distance from lens to subject B: distance from lens to one-dimensional image sensor C: distance from lens to rotation center on optical axis y ': size of image sensor (perpendicular to line direction) The image data is transferred for each angle θ given by the following equation: a specific relationship is given to the timing of the transfer of data from the one-dimensional image sensor, which is called joining of two-dimensional images. There is an effect that a 360-degree panoramic photographing without interruption can be performed with sufficient resolution without performing complicated work.

According to the second aspect of the present invention, since the image data is transferred for each angle equal to or larger than the angle θ, an image having a necessary and sufficient resolution in the rotating direction can be obtained without taking extra time. It has the effect that it can be done.

According to a third aspect of the present invention, the resolution (MT) of the lens at the spatial frequency of the arrangement pitch of the one-dimensional image sensor is described.
When F) is defined as M (%), the reference angle for transferring the image data is set to θ ′ = θ / (M / 100), which is an angle θ ′. This has the effect that an image having a high resolution can be obtained.

According to a fourth aspect of the present invention, approximately one half of the effective pixels of the one-dimensional image pickup device are divided into two regions, and a reflecting mirror and a lens system are provided in opposition to each region, and the surrounding space opposes. Since the area is simultaneously imaged on another area of the one-dimensional image sensor, the time required for capturing an image of the surrounding space is reduced to half, or the rotation speed is doubled. It has the effect that it can be done.

According to the fifth aspect of the present invention, the lens for forming an image on another area of the one-dimensional image pickup device shares one lens, so that the structure of the apparatus can be simplified. Having.

According to the sixth aspect of the present invention, since the two areas of the one-dimensional image sensor have the image transfer directions opposite to each other, there is no need to invert the image after photographing, thereby simplifying the structure of the apparatus. This makes it possible to simplify the processing after photographing.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional side view showing a first embodiment of the present invention.

FIG. 2 is an explanatory diagram showing an image forming relationship in a state where a reflecting mirror is omitted.

FIG. 3 is an explanatory diagram showing an image forming relationship during rotation.

FIG. 4 is a longitudinal sectional side view showing a second embodiment of the present invention.

FIG. 5 is a vertical sectional side view showing a third embodiment of the present invention.

FIG. 6 is a perspective view illustrating a structure of a one-dimensional image sensor.

FIG. 7 shows a conventional QuickTime VR Panora.
FIG. 5 is an explanatory diagram showing a state in which the interior of the vehicle ma is being viewed.

FIG. 8 is a partially cutaway perspective view showing an example of a conventional imaging apparatus.

[Explanation of symbols]

 14 One-dimensional imaging device 16 Lens system 17 Reflector

Claims (6)

[Claims] 1. A one-dimensional imaging device, a lens system for forming an image of a subject on the one-dimensional imaging device, and a reflecting mirror provided with a reflecting surface inclined with respect to an optical axis of the lens system. In the imaging apparatus, the one-dimensional imaging device is provided rotatably around a point on an optical axis of the lens of the lens system,
In synchronization with this rotation, θ = 2 × arctan ｛(A · y ′) / 2 · B (A−
C) where A: distance from lens to subject B: distance from lens to one-dimensional image sensor C: distance from lens to rotation center on optical axis y ': size of image sensor (perpendicular to line direction) Image data is transferred for each angle θ given by: 2. A one-dimensional image sensor, a lens system for forming an image of a subject on the one-dimensional image sensor, and a reflecting mirror provided with a reflecting surface inclined with respect to the optical axis of the lens system. In the imaging apparatus, the one-dimensional imaging device is provided rotatably around a point on an optical axis of the lens of the lens system,
In synchronization with this rotation, θ = 2 × arctan ｛(A · y ′) / 2 · B (A−
C) where A: distance from lens to subject B: distance from lens to one-dimensional image sensor C: distance from lens to rotation center on optical axis y ': size of image sensor (perpendicular to line direction) The image data is transferred for each angle equal to or greater than the angle θ given by 3. When the resolution of the lens at the spatial frequency of the arrangement pitch of the one-dimensional image pickup device is M (%), the reference angle for transferring image data is θ ′ = θ / (M / 100). 3. The imaging apparatus according to claim 1, wherein the angle is given. 4. The one-dimensional imaging device is divided into two regions by approximately half of the effective pixels, a reflecting mirror and a lens system are provided to face each region, and the one-dimensional imaging is performed on the facing region in the surrounding space. 4. The imaging apparatus according to claim 1, wherein an image is formed by simultaneously forming an image on another area of the element. 5. The image pickup apparatus according to claim 4, wherein one lens is used as a lens to form an image on another area of the one-dimensional image pickup device. 6. The image pickup apparatus according to claim 4, wherein the two areas of the one-dimensional image pickup element have image transfer directions opposite to each other.