JPH11252452A - Panoramic image-pickup device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the appearance of the non-continuous part of brightness and to provide satisfactory panoramic images when picking up the panoramic images of large brightness change. SOLUTION: The photometry of a position which is advanced in a rotating direction to an image-pickup position, where CCD line sensors 36 and 37 pick up the images is performed by photometric sensors 45 and 46, and data from the photometric sensors are stored in a register 73 for plural lines before and after the image-pickup position. The data stored in the register are added and averaged in an arithmetic part 74, the averaged data are supplied to a gain table 75, and a gain is selected corresponding to the data in the gain table and supplied to a gain setting part 76. Thus, the gain setting part varies the gain of an amplification part 71, for amplifying CCD line sensor output corresponding to the measured illuminance.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a panoramic image pickup apparatus which obtains a panoramic image by picking up a 360-degree surrounding image using an image pickup device such as a CCD sensor.

[0002]

2. Description of the Related Art Conventionally, various attempts have been made to record and reproduce an image in a form closer to what the human eye can see. For example, a normal 35 mm camera can capture only an image in a predetermined range, but in order to obtain a wider-angle image, a method of connecting a plurality of images captured by changing the direction of a subject such as a landscape, for example, and viewing it. There is a so-called connecting panoramic photograph. If this method is adopted, it becomes possible to reproduce and appreciate an image around 360 degrees.

[0003] Further, with the recent development of computer-related technology, there is a technique for actively reproducing a captured image in a computer. An example of this is Quick
kTime VR (Virtual Reality)
There is something called. In this method, a plurality of images are taken at a certain angle with respect to 360 degrees around the camera, and are combined into one image by an image processing technique and reproduced on a computer screen.

[0004] Referring to the method of reproduction on a computer screen, FIG. 14 (a) is an initial screen showing the inside of a car, and a hand mark in the figure indicates a pointing device such as a mouse connected to the computer. It is a cursor that moves by operation. When the user performs an operation of moving a cursor called drag while pressing the button of the pointing device, the image on the screen becomes an image of another viewing angle as shown in FIG. If the drag operation is continued, the image moves further and FIG.
(C). Then, if the drag operation is further continued, the inside of the car can be seen from behind, and by making one round, the inside of the car can be seen 360 degrees. Further, by operating a predetermined button on the keyboard, the user can enlarge or reduce an image corresponding to zooming of the camera. As a result, the user can check everything in the vehicle while staying at home, for example.

[0005] As an apparatus for capturing such an image,
For example, there is a camera described in JP-A-7-199321. This camera has a panoramic image pickup mode in which a panoramic image can be easily taken in addition to the normal image pickup mode. As shown in FIG. Is activated, the attitude of the camera of the number of frames captured during the operation is input to the CPU 4 from the attitude detecting means 3 including a compass, an angular velocity sensor, and the like, and the calculated result is displayed on the display means 2. To be displayed. When the photographer presses the release switch according to the display on the display unit 2, the film feed unit 5 is moved according to the comparison result, and the rotation of the roller of the film feed amount detection unit 6 causes
By imprinting the mark on the film by the identification mark imprinting means 7 and connecting the photographs in accordance with the mark, the image can be viewed as a panoramic photograph.

[0006] In addition, as an apparatus for capturing an image more easily,
Japanese Patent Application Laid-Open No. Hei 8-275066 is known. As shown in FIG. 16, a dark box 11 which is a housing of the camera, a lens 12 attached to the dark box 11, and a one-line CCD 14 provided on a surface of the dark box 11 where an image is formed by the lenses 12 are provided. A motor 13 for rotating the dark box 11, an angle detector 15 for detecting how much the dark box 11 is rotated from the reference position by setting the reference position to 0 °, and an analog signal from the one-line CCD 14. A / D converter 16 for converting the analog signal into a digital signal, and a timing and an address for writing an analog signal from the one-line CCD 14 to the image memory 17 are obtained by calculation based on the signal from the angle detecting device 15. And a write control device 18 for outputting a write signal as a memory write timing and an address signal. A read control device 20 for calculating a timing and an address at the time of reading image data from the image memory 17 based on a signal and outputting the result as a memory read timing and an address signal, and a memory read timing from the read control device 20 A D / A converter 21 for converting an image data digital signal read from the image memory 17 into an image data analog signal based on the address signal and
Superimposition circuit 2 that superimposes the video synchronization signal from synchronization signal generation circuit 19 and the image data analog signal to output a video signal.
And 2. This is because of the dark box 1
1 is rotated, and the one-line CCD 14 scans in the vertical direction in synchronization with this rotation to take an image. The A / D-converted image data is sequentially stored in the image memory 17, and finally at the time of one rotation. A 360-degree panoramic image is obtained. This apparatus has an advantage that, unlike the case of taking an image with a normal still camera, the post-processing of joining the divided images is unnecessary.

[0007]

However, in a camera using a film or an electronic still camera as disclosed in Japanese Patent Application Laid-Open No. 7-199321, the illuminance from a subject is adjusted so that a captured image has an appropriate brightness. It has an automatic exposure compensation mechanism that detects and adjusts the exposure, and if you try to join captured images, for example, if there is a locally bright subject in the field of view, the exposure will be adjusted according to the brightness. Since the correction is performed, there arises a problem that the brightness of the image is discontinuously changed between adjacent frames that should have the same brightness. Therefore, it is possible to avoid a discontinuous change in the brightness of an image by capturing an image with a fixed exposure amount.
However, in this case, when 360 ° panoramic imaging is performed, the illuminance difference of the subject increases, and a screen that is too bright or too dark appears at a fixed exposure amount,
There is a problem that a good panoramic image cannot be obtained.

In Japanese Patent Application Laid-Open No. 8-275066, panoramic imaging is performed using a one-line CCD, so that there is no discontinuity in the brightness of the image. If there is a bright part, the output of the one-line CCD is saturated in that part, causing a problem that the image is deteriorated. In particular, when a CCD is used, when the output is saturated, the charge overflows to other pixels, and in an extreme case, a problem arises in that a bright area is partly saturated even though a part of a bright place. Therefore, it is conceivable that the CCD is controlled by an automatic gain control (AGC) so that the output of the CCD falls within an appropriate range for each line. As in the case where the exposure was automatically corrected with a still camera between the other columns, a good panorama with a discontinuity in the image brightness appearing in the area where the brightness is originally the same There was a problem that an image could not be obtained.

In view of the above, according to the present invention, it is possible to obtain a good panoramic image by preventing the appearance of a discontinuity in brightness even when an image having a large change in brightness is taken in panoramic imaging. To provide a panoramic imaging device capable of performing the following. The invention according to claims 2 and 4 further includes:
Provided is a panoramic imaging device capable of obtaining a natural image without crushing or skipping of brightness. Further, the inventions according to claims 3, 5 and 6 further provide a panoramic image pickup apparatus which does not have brightness collapse or skipping, can perform exposure correction according to an image pickup mode, and can obtain a more natural image. .

[0010]

According to the first aspect of the present invention,
An image sensor, a lens system for forming an image of a subject on an imaging surface of the image sensor, and a rotating unit for integrally rotating the image sensor and the lens system are provided, and the image sensor and the lens system are rotated by the rotating unit. In a panoramic imaging apparatus that continuously captures surrounding panoramic images, a photometric unit that performs photometry at a position preceding the imaging position where the image sensor captures an image in the rotation direction, and a photometric output from the photometric unit are sequentially stored. A storage unit, a photometry value calculation unit that calculates an average value of photometry outputs of a plurality of lines before and after an imaging position where an imaging device captures an image from the photometry output stored in the storage unit, and a calculation result of the photometry value calculation unit. Output value correcting means for correcting the output value of the image sensor so that the brightness changes continuously.

According to a second aspect of the present invention, there is provided an image pickup device, a lens system for forming an image of a subject on an image pickup surface of the image pickup device, and rotating means for integrally rotating the image pickup device and the lens system. In a panoramic imaging apparatus that continuously captures a surrounding panoramic image by rotating an imaging device and a lens system by a rotation unit, an image captured by the imaging device at a position preceding the imaging position captured by the imaging device in the rotation direction Photometric means for performing photometry in an area substantially the same as the height, and a photometric area by the photometric means divided into a plurality, and one or a plurality of photometric outputs of each of the divided areas are multiplied by a coefficient to obtain a weighted photometric position in the photometric area. Weighted photometric position setting means for setting, a storage means for sequentially storing the photometric outputs for which the weighted photometric positions are set by the weighted photometric position setting means, and a photometric output stored in the storage means. A photometric value calculating unit that calculates an average value of photometric outputs of a plurality of lines before and after an imaging position where an image is picked up by an image element; Output value correcting means for correcting the output value so that

According to a third aspect of the present invention, there is provided an image pickup device, a lens system for forming an image of a subject on an image pickup surface of the image pickup device, and rotating means for integrally rotating the image pickup device and the lens system. In a panoramic imaging apparatus that continuously captures a surrounding panoramic image by rotating an imaging device and a lens system by a rotation unit, an image captured by the imaging device at a position preceding the imaging position captured by the imaging device in the rotation direction Photometric means for performing photometry in an area substantially the same as the height, and a photometric area by the photometric means divided into a plurality, and one or a plurality of photometric outputs of each of the divided areas are multiplied by a coefficient to obtain a weighted photometric position in the photometric area. Weighted light metering position setting means for setting the weighted light metering position, weighted light metering position changing means for changing the weighted light metering position set by the weighted light metering position setting means in conjunction with the imaging mode, and weighted light metering position setting A storage means for sequentially storing the photometric outputs in which the priority photometric positions are set in the stages, and a photometric value calculation for calculating an average value of the photometric outputs of a plurality of lines before and after the imaging position where the image sensor captures an image from the photometric outputs stored in the storage means. And output value correction means for correcting the output value of the image sensor based on the calculation result of the photometric value calculation means so that the brightness changes continuously.

According to a fourth aspect of the present invention, there is provided an image pickup device, a lens system for forming an image of a subject on an image pickup surface of the image pickup device, and a rotating means for integrally rotating the image pickup device and the lens system. In a panoramic imaging apparatus that continuously captures a surrounding panoramic image by rotating an imaging device and a lens system by a rotation unit, an image captured by the imaging device at a position preceding the imaging position captured by the imaging device in the rotation direction A photometric device that performs photometry in the same area as the height, and a slit having a different width depending on the position is arranged in front of the photometric device, and the amount of light to the photometric device is changed by the slit at the position of the photometric region. Weighted light metering position setting means for setting the weighted light metering position; storage means for sequentially storing the light metering output from the light metering means; A photometric value calculating unit that calculates an average value of photometric outputs of a plurality of lines before and after the imaging position to be captured, and an output value of the image sensor based on a calculation result of the photometric value calculating unit so that a change in brightness becomes continuous. Output value correcting means for correcting the output value.

According to a fifth aspect of the present invention, there is provided an image pickup device, a lens system for forming an image of a subject on an image pickup surface of the image pickup device, and rotating means for integrally rotating the image pickup device and the lens system. In a panoramic imaging apparatus that continuously captures a surrounding panoramic image by rotating an imaging device and a lens system by a rotation unit, an image captured by the imaging device at a position preceding the imaging position captured by the imaging device in the rotation direction A photometric device that performs photometry in the same area as the height, and a slit having a different width depending on the position is arranged in front of the photometric device, and the amount of light to the photometric device is changed by the slit at the position of the photometric region. A weighted light metering position setting means for setting the weighted light metering position, and a weighted light metering position changing means for changing the position of the slit in conjunction with the imaging mode and changing the weighted light metering position to be set. And storage means for sequentially storing photometric outputs from the photometric means, and photometric value calculating means for calculating the average value of the photometric outputs of a plurality of lines before and after the imaging position where the image sensor captures an image from the photometric outputs stored in the storage means, Output value correcting means for correcting the output value of the image sensor based on the calculation result of the photometric value calculating means so that the brightness changes continuously.

According to a sixth aspect of the present invention, there is provided an image pickup device, a lens system for forming an image of a subject on an image pickup surface of the image pickup device, and a rotating means for integrally rotating the image pickup device and the lens system. In a panoramic imaging apparatus that continuously captures a surrounding panoramic image by rotating an imaging device and a lens system by a rotation unit, an image captured by the imaging device at a position preceding the imaging position captured by the imaging device in the rotation direction A photometric device that performs photometry in the same area as the height, and a slit having a different width depending on the position is arranged in front of the photometric device, and the amount of light to the photometric device is changed by the slit at the position of the photometric region. A plurality of weighted light metering position setting means for setting the weighted light metering position, and a plurality of slits used by the weighted light metering position setting means having various widths are prepared. The slit to use Te and variable,
Weighted light metering position changing means for changing the set weighted light metering position; storage means for sequentially storing light metering outputs from the light metering means;
A photometric value calculating unit that calculates an average value of photometric outputs of a plurality of lines before and after an imaging position where the image sensor captures an image from the photometric output stored in the storage unit; and an output of the image sensor based on a calculation result of the photometric value calculating unit Output value correcting means for correcting the value so that the change in brightness is continuous.

[0016]

Embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing the outer appearance of a panoramic image pickup apparatus 31.
2 and a driving unit 33 having a columnar shape for rotating and driving the same. In the apparatus main body 32, two vertically long imaging windows 34 closed with a transparent member are formed at equal intervals along the circumferential surface.

As shown in FIG. 2, the panoramic image pickup device 31 has a rotatable rotary shaft 35 at its center.
For example, two CCs are provided on the rotating shaft 35 as an image sensor.
A disk-shaped printed circuit board 38 in which D line sensors 36 and 37 are arranged 180 degrees apart from each other, and a disk shape in which a pair of lens systems 39 and 40 for forming subject images on the respective CCD line sensors 36 and 37 are attached. Has two reflecting surfaces 42 and 43 corresponding to the lens mounting plate 41 and the CCD line sensors 36 and 37, respectively.
43 is inclined at the same angle with respect to the optical axis of each of the lens systems 39 and 40, and the optical path of the subject image taken in through each of the imaging windows 34 is bent at a substantially right angle by reflection, so that the lens systems 39 and 40 are bent. An inverted pyramid-shaped reflecting member 44 leading to 40 is attached at a predetermined interval from each other.

As shown in FIG. 3, on the printed circuit board 38, an SPD, a photodiode, a CCD, a C
Photometric sensor 4 composed of a photoelectric conversion element such as a MOS sensor
5, 46 are arranged. That is, the photometric sensors 45 and 46 are connected to the CCD line sensors 36 and 37, respectively.
The photometry is performed at a position in the rotation direction of the apparatus main body 32, that is, a position preceding the imaging position where the imaging is performed, that is, the direction indicated by the arrow in the drawing.

The photometric sensors 45 and 46 may be one element, but preferably have a distribution length similar to that of the CCD line sensor, or may be divided in the length direction. Here, the CCD line sensor 3
The distribution length is about the same as that of 6, 37 and is divided into a plurality of pieces in the length direction.

The circuit board 3 with respect to the rotation shaft 35
8. Specifically, the mounting of the lens mounting plate 41 and the reflecting member 44 will be described in detail. A groove is formed along the circumference at a position where one end, which is the lower end of the rotating shaft 35, remains a predetermined length. An E-ring 47 is fitted into the groove, and a hole made at the center of the circuit board 38 on which the CCD line sensors 36 and 37 and the photometric sensors 45 and 46 are disposed is formed from the other end which is the upper end of the rotating shaft 35. E-ring 4
7 to determine the position of the circuit board 38 in the downward direction.
Is fixed to the rotation shaft 35.

Similarly, the lens mounting plate 41 on which the lens systems 39 and 40 are mounted is located at a position above the circuit board 38 by a predetermined distance, that is, the lens systems 39 and 40 are mounted on the CCDs. The E-ring 48 is used to position the image sensor on the light receiving surfaces of the line sensors 36 and 37 to form an image in the downward direction, and is fixed to the rotating shaft 35. Similarly, the reflection member 44 is fixed to the rotating shaft 35 by performing downward positioning with an E-ring 49 at a position above the lens mounting plate 41 by a predetermined distance. The circuit board 38, the lens mounting plate 41, and the reflection member 44 are stored at a position below the fixed position of the circuit board 38 on the rotating shaft 35 by a predetermined distance, and the cylindrical shape is provided with the imaging window 34. The bottom of the housing 50 is positioned and fixed by an E-ring 51 to form the apparatus main body 32.

The CCD line sensors 36, 3
7 is a one-column pixel array for monochrome correspondence, and a color-type one in which RGB filters are arranged in order for one row pixel array or three Of the type in which RGB filters are individually arranged in each column for the pixel arrangement of FIG. Further, even if the reflecting member 44 is a prism-shaped one in which the reflecting surfaces 42, 43 are integrated, each reflecting surface 42, 43 is formed by a plate-like mirror, and each plate-like mirror is fixed to the member body. May be done.

The remaining portion on one end side of the rotating shaft 35 is rotatably supported by two bearing bearings 52, 53 formed at the center of the driving portion 33. Then, one end of the rotating shaft 35 projects slightly downward from the lower bearing bearing 53, and the gear 54 is fixed to this projecting portion. On the other hand, a stepping motor 55 is provided in the drive unit 33, and the rotational force of the stepping motor 55 is transmitted to a gear 54 attached to the rotating shaft 35 via a transmission mechanism 56 including a gear train and a timing belt. Has become.

One end of the rotating shaft 35 extends from one end to an intermediate portion between the position where the circuit board 38 is fixed and the position where the bottom portion of the housing 50 is fixed, and the intermediate portion extends in the circumferential direction of the rotating shaft 35. A substantially L-shaped circular hole 57 that bends to the outside is formed. And this hole 57
A coupling lens 59 in which an optical fiber 58 is connected to the circumference of the rotation shaft 35 through which the optical fiber 58
7, the tip of the optical fiber 58 is slightly discharged from one end of the rotating shaft 35.

On the bottom of the circuit board 38, the CCDs
A light emitting element 60 for converting electric signals from the line sensors 36 and 37 into optical signals and sequentially transmitting the light signals sequentially for each CCD line sensor is provided. The light emitting surface of the light emitting element 60 is slightly spaced from the coupling lens 59. It is mounted so that it opens and faces each other. Further, in the driving section 33, a light receiving element 61 having a light receiving surface opposed to the tip of the optical fiber 58 is arranged and housed on a printed circuit board 62.

FIG. 4 shows a set of optical systems, for example, a CCD line sensor 36, a photometric sensor 45, a lens system 39, and a reflecting surface 4.
2 is a perspective view showing a relationship between a subject image and an image for No. 2, and a subject image 63 is reflected on a reflection surface 42 and then formed on a light receiving surface of a CCD line sensor 36 by a lens system 39. Then, an image circle 64 formed by the lens system 39 is formed.
The light receiving surface of the photometric sensor 45 is located on the rotation direction side (direction indicated by an arrow in the drawing) of the CCD line sensor 36 in the inside, and measures the luminance of an image that moves prior to imaging by the CCD line sensor 36.

This operation is performed by another set of optical systems, such as a CCD.
The same applies to the line sensor 37, the photometric sensor 46, the lens system 40, and the reflection surface 43. Therefore, each of the two optical systems is responsible for capturing an image around 180 degrees of 360 degrees per round. Thus, 360-degree panoramic imaging as a whole can be realized.

FIG. 5 is a diagram showing the relationship between image sensing and photometry based on the positional relationship between the CCD line sensor and the photometric sensor. Here, for simplicity of explanation, the case where the center of rotation O and the center of the optical system are common is shown. Is described. In the case of the configuration shown in FIG. 2, the center of rotation O is shifted from the center of the optical system, but this shift hardly affects the operation and effect.

A subject image A 'is placed on the CCD line sensor A.
Is tied. At this time, the subject image B ′ ahead of the rotation direction indicated by the arrow is located on the photometric sensor B. Assuming that the image capturing interval of the CCD line sensor A is t seconds, and the subject image B ′ is captured by the CCD line sensor A after T seconds, the CCD line sensor A has n = T / t lines of imaging positions in T seconds. Proceeds, the photometric sensor B is n = T / t in the meantime
Photometry at the line end will be performed.

FIG. 6 is a block diagram showing the circuit configuration. The image data from the CCD line sensors 36 and 37 are amplified by an amplifier 71 and output to the next stage. The above photometry is performed, and its output is stored in the register 73 constituting the storage means at the same timing as the image capturing timing by the timing clock from the timing clock generator 72. At this time, the outputs of the photometric sensors 45 and 46 may be A / D-converted digital data or analog data in the form of a voltage signal, for example.

The number of data stored in the register 73 is 2n + 1 lines, and the lines being imaged by the CCD line sensors 36 and 37 and the photometric data of n lines before and after the lines are stored. The register 73
Are added and averaged by the calculation unit 74 constituting the photometric value calculation means, and the output is output to the gain table 75. The gain table 75 selects a gain set by the gain setting unit 76 in the amplification unit 71 based on an output from the calculation unit 74, and the gain setting unit 76 sets the gain of the amplification unit 71 based on the selected gain. . That is, the gain table 75 and the gain setting unit 76 constitute an output value correction unit.

As described above, the CCD line sensors 36, 3
The gain of the amplifying unit 71 that amplifies the image data from 7 is set to the gain selected from the gain table 75 based on the data obtained by adding and averaging the 2n + 1 lines of photometric data before and after that. That is, when the light amount is large, the gain is set small, and when the light amount is small, the gain is set large.

In FIG. 6, the gain of the amplifier 71 is controlled to correct the image data with respect to the measured light amount.
The storage time of the D line sensors 36 and 37 may be controlled to correct the image data with respect to the measured light amount. That is, as shown in FIG. 7, the photometric data of 2n + 1 lines stored in the register 73 are added and averaged by the arithmetic unit 74, and the output is output to the accumulation time table 77. The accumulation time setting section 78 is operated by the CCD line sensors 36 and 37 based on the output from the arithmetic section 74.
The storage time setting unit 78 sets the storage time of the CCD line sensors 36 and 37 based on the selected storage time. That is,
When the light quantity is large, the accumulation time is shortened, and when the light quantity is small, the accumulation time is set long. .

In such a configuration, the apparatus body 32
The subject images taken from the respective imaging windows 34 provided in the camera are reflected by the reflecting surfaces 42 and 43 of the reflecting member 44 and formed on the light receiving surfaces of the CCD line sensors 36 and 37 via the lens systems 39 and 40. Will be imaged. Also, the photometry sensors 45 and 46 detect the brightness of the n-th line ahead of the positions where the CCD line sensors 36 and 37 take an image. The photometric data from the photometric sensors 45 and 46 is sequentially stored in the register 73, and the two photometric data stored in the register 73 are stored.
Computation unit 7 performs addition and averaging of photometric data for n + 1 lines
Perform in step 4.

The gain table 75 selects a gain based on the calculation result of the calculation unit 74 and causes the gain setting unit 76 to set the gain for the amplification unit 71. For example, FIG.
When a panorama image in which the light L is present and the place is extremely bright is captured as shown in FIG. 9, the relationship between the illuminance information obtained by the photometric sensors 45 and 46 and the image position is shown in FIG. As shown, the illuminance suddenly shows a peak value at the position of the light L. However, the photometric sensor 45,
Since the photometric data obtained by photometry at 46 is added and averaged for 2n + 1 lines, and this is repeated for each line as the apparatus main body 32 rotates, the illuminance correction supplied to the gain table 75 from the arithmetic unit 74 The subsequent data is shown in FIG.
The illuminance information changes smoothly as shown in FIG.

Thus, when a subject image including a locally bright portion is captured, a discontinuity in brightness occurs in the locally bright portion in the related art as shown in FIG. 10 (a). However, here, as shown in FIG. 10 (b), the brightness gradually changes, and it is possible to prevent the appearance of a discontinuous portion of the brightness, thereby obtaining a good panoramic image.

The photometric sensors 45 and 46 may be arranged in a line array. In this case, a calculation means is provided between the photometric sensor and the register. The arithmetic means adds and averages the photometric values of the photometric sensors 45 and 46 and outputs the result as photometric data. Further, a special imaging mode may be provided to multiply and output the photometric value of each point. That is, the photometric result is output with emphasis on the center and upper part of the completed image.
The gain of 1 and the accumulation time of the CCD line sensors 36 and 37 may be controlled.

At the timing of the start of image pickup, n lines of prescans for photometry are performed, and then the images of the CCD line sensors 36 and 37 are captured. Considering the case of actually capturing images, for example, when there is the sun in the sky outdoors,
This area is the brightest. If you adjust the brightness to this part, the image will be darker in the sun. Therefore, the photometry value at the top of the image where the sun and bright sky are
By weighting the photometric values from the center to the bottom of the image, a natural image can be captured even under the sun.
In a room with windows, the windows are the brightest, and if there is lighting, the ceiling is also bright. In such a case, a natural image without crushing can be captured by weighting the photometric value at the lower part of the image.

For such an arithmetic function, the photometric value may be A / D converted, and the digitized data may be processed by a DSP or the like, or the outputs of the photometric sensors 45 and 46 may be converted to analog data. The gain of the amplifying unit 71 for amplification may be adjusted, or may be adjusted mechanically.

An example of the case of performing the operation mechanically will be described with reference to FIG.
As shown in the figure, before the photometric sensors 45 and 46, the width of the slit 81 is narrow at the center and wide at both ends.
2 are slidably arranged, and the light-receiving surfaces of the photometric sensors 45 and 46 are usually positioned at the ends of the slits 81 of the slit member 82 as shown in FIG. Set as follows. When the photometry is performed with emphasis on the center and the lower part of the image, the slit member 82 is slid so that the width of the slit 81 corresponding to the upper part of the image is reduced as shown in FIG. When the photometry is to be performed mainly on the lower portion of the image, the slit member 82 is slid so that the width of the slit 81 at the central portion and the lower portion of the image is reduced as shown in FIG.

By sliding the slit member 82 in this manner, the amount of light with respect to the light receiving surfaces of the photometric sensors 45 and 46 can be changed at the upper portion, the central portion, the lower portion, and the like.
Accordingly, by positioning the slit member 82 in accordance with the imaging conditions and adding and averaging the photometric data of the photometric sensors 45 and 46 at that time, it is possible to perform photometry with the weighted photometric position of the photometric region in the photometric sensor changed. As a result, a more natural image can be obtained without brightness collapse or skipping.

In this case, the slit member 82 may be slid manually by using a lever or a dial, or automatically by using a motor. Alternatively, various slit members having different slit widths may be prepared, and the slit members used may be exchanged according to the conditions at the time of imaging. In addition, in particular, even if a changeover switch such as an outdoor fine weather mode, an outdoor cloudy weather mode, an indoor mode, an indoor lighting mode is provided, and a coefficient used for calculating photometric data is read from a table according to the mode set by this changeover switch, Further, the position of the slit 81 may be adjusted by sliding the slit member 82 according to the mode set by the changeover switch. Thus, by selecting the imaging mode with the changeover switch, the exposure compensation corresponding to the selected mode can be automatically performed, and a more natural image can be obtained.

In the above-described embodiment, the CCD line sensor and the photometric sensor are arranged side by side. However, the present invention is not limited to this. For example, as shown in FIG. The image may be captured from the area sensor 83 one line or several lines at a time. In addition, by using the area sensor 83, a part of the area sensor can be used as a photometric sensor. That is, a part preceding the center position of the area sensor 83 on the rotation direction side can be used as a photometric sensor.

Further, in the above-described embodiment, the case where two sets of the CCD line sensor and the photometric sensor are arranged at an interval of 180 degrees in the rotation direction has been described as an example, but the present invention is not necessarily limited to this. Alternatively, three or more sets may be radially arranged at regular intervals in the rotation direction.

In addition, as an image pickup device, TDI
A sensor or the like may be used. In short, any sensor may be used as long as the photoelectric sensors are arranged in a line. Further, in the above-described embodiment, a configuration is adopted in which a subject image from the outside is bent by 90 degrees and incident on the lens system by using a reflecting member. However, the present invention is not limited to this. The members can be omitted.

[0046]

According to the invention described in each of the claims, even if an image having a large change in brightness is taken in panoramic imaging, the appearance of a discontinuity in brightness is prevented, and a good panoramic image is obtained. Obtainable. Further, according to the second and fourth aspects of the present invention, a natural image can be obtained without brightness collapse or skipping. Further, according to the third, fifth and sixth aspects of the present invention, the brightness is not collapsed or skipped, and the exposure can be corrected according to the imaging mode, so that a more natural image can be obtained.

[Brief description of the drawings]

FIG. 1 is a perspective view showing the appearance of an embodiment of the present invention.

FIG. 2 is a longitudinal sectional view showing an internal configuration of the device according to the embodiment.

FIG. 3 is a plan view showing an arrangement state of a CCD line sensor and a photometric sensor in the embodiment.

FIG. 4 is an exemplary perspective view showing a relationship between a subject image and a captured image of a set of optical systems according to the embodiment;

FIG. 5 is a diagram showing a relationship between imaging and photometry based on a positional relationship between a CCD line sensor and a photometric sensor in the embodiment.

FIG. 6 is a block diagram showing an example of a main circuit configuration of the embodiment.

FIG. 7 is an exemplary block diagram showing another example of the circuit configuration of the main part of the embodiment;

FIG. 8 is a diagram showing an example of a 360-degree panoramic image captured in the embodiment.

FIG. 9 is a diagram showing a change in illuminance information when the illuminance of the panoramic image shown in FIG. 8 is measured by a photometric sensor.

FIG. 10 is a diagram showing illuminance correction data when the illuminance information shown in FIG. 9 is added, averaged, and corrected.

FIG. 11 is a diagram showing a conventional captured image and a captured image according to the embodiment when the illuminance changes rapidly.

FIG. 12 is a diagram showing an example in which the amount of received light with respect to the photometric sensor is adjusted using a slide member.

FIG. 13 is a perspective view showing a relationship between a subject image of a pair of optical systems and a captured image when an area sensor is used as an image sensor.

FIG. 14 is a view for explaining Quick Time VR.

FIG. 15 is a block diagram showing a conventional example.

FIG. 16 is a block diagram showing another conventional example.

[Description of Signs] 31 ... Panorama imaging device 32 ... Device main body 33 ... Drive unit 34 ... Imaging window 35 ... Rotating axis 36,37 ... CCD line sensor (imaging device) 39,40 ... Lens system 45,46 ... Photometric sensor 73 ... Register (storage means) 74 ... Calculation unit 75 ... Gain table 76 ... Gain setting unit

Claims (6)

[Claims] An image pickup device, a lens system for forming an image of a subject on an image pickup surface of the image pickup device, and a rotation unit for integrally rotating the image pickup device and the lens system are provided. In a panoramic image capturing apparatus that continuously captures a surrounding panoramic image by rotating the image capturing element and the lens system, a photometric unit that performs photometry at a position preceding the image capturing position captured by the image capturing element in a rotational direction, A storage means for sequentially storing photometric outputs from the photometric means; a photometric value calculating means for calculating an average value of photometric outputs of a plurality of lines before and after an imaging position where the image pickup device captures an image from the photometric outputs stored in the storage means; A panorama comprising output value correction means for correcting the output value of the image sensor based on the calculation result of the photometry value calculation means so that the brightness changes continuously. Image apparatus. 2. An image pickup device, a lens system that forms an image of a subject on an image pickup surface of the image pickup device, and a rotation unit that integrally rotates the image pickup device and the lens system are provided. In a panoramic imaging apparatus that continuously captures a surrounding panoramic image by rotating the image sensor and the lens system, an image height imaged by the image sensor at a position preceding the image capturing position captured by the image sensor in a rotational direction. And a photometric unit that performs photometry in a region substantially the same as the above, divides the photometric region by the photometric unit into a plurality, and multiplies one or a plurality of photometric outputs of each of the divided regions by a coefficient to determine a weighted photometric position in the photometric region. Weighted photometric position setting means to be set; storage means for sequentially storing the photometric outputs in which the weighted photometric positions are set by the weighted photometric position setting means; and photometric outputs stored in the storage means. A photometric value calculating unit that calculates an average value of photometric outputs of a plurality of lines before and after an imaging position where the image sensor captures an image, and a change in brightness of an output value of the image sensor based on a calculation result of the photometric value calculating unit. A panoramic imaging device, comprising: output value correcting means for correcting so as to be continuous. 3. An image pickup device, a lens system for forming an image of a subject on an image pickup surface of the image pickup device, and a rotating unit for integrally rotating the image pickup device and the lens system are provided. In a panoramic imaging apparatus that continuously captures a surrounding panoramic image by rotating the image sensor and the lens system, an image height imaged by the image sensor at a position preceding the image capturing position captured by the image sensor in a rotational direction. And a photometric unit that performs photometry in a region substantially the same as the above, divides the photometric region by the photometric unit into a plurality, and multiplies one or a plurality of photometric outputs of each of the divided regions by a coefficient to determine a weighted photometric position in the photometric region. Weighted light metering position setting means to be set; weighted light metering position changing means for changing the weighted light metering position set by the weighted light metering position setting means in conjunction with an imaging mode; Storage means for sequentially storing the photometric outputs in which the weighted photometric positions are set by the determining means, and photometry for calculating the average value of the photometric outputs of a plurality of lines before and after the imaging position where the image pickup device captures an image from the photometric outputs stored in the storage means. A panorama, comprising: a value calculation unit; and an output value correction unit that corrects an output value of the image sensor based on a calculation result of the photometry value calculation unit so that a change in brightness is continuous. Imaging device. 4. An image pickup device, a lens system for forming an image of a subject on an image pickup surface of the image pickup device, and a rotation unit for integrally rotating the image pickup device and the lens system are provided. In a panoramic imaging apparatus that continuously captures a surrounding panoramic image by rotating the image sensor and the lens system, an image height imaged by the image sensor at a position preceding the image capturing position captured by the image sensor in a rotational direction. And a photometric means for performing photometry in substantially the same area, and a slit having a different width depending on the position is arranged in front of the photometric means, and the amount of light to the photometric means is changed by the slit at the position of the photometric area. Weighted light metering position setting means for setting the weighted light metering position; storage means for sequentially storing the light metering outputs from the light metering means; and A photometric value calculating unit that calculates an average value of photometric outputs of a plurality of lines before and after an imaging position where an image is captured by the image element; and a change in brightness of the output value of the image sensor based on the calculation result of the photometric value calculating unit. A panoramic image pickup apparatus, comprising: an output value correction unit that corrects the panorama. 5. An image pickup device, a lens system for forming an image of a subject on an image pickup surface of the image pickup device, and a rotation unit for integrally rotating the image pickup device and the lens system are provided. In a panoramic imaging apparatus that continuously captures a surrounding panoramic image by rotating the image sensor and the lens system, an image height imaged by the image sensor at a position preceding the image capturing position captured by the image sensor in a rotational direction. And a photometric means for performing photometry in substantially the same area, and a slit having a different width depending on the position is arranged in front of the photometric means, and the amount of light to the photometric means is changed by the slit at the position of the photometric area. Weighted light metering position setting means for setting a weighted light metering position; and a weighted light metering position for changing the set weighted light metering position by changing the position of the slit in conjunction with the imaging mode. Changing means, storage means for sequentially storing photometric outputs from the photometric means, and photometric values for calculating an average value of photometric outputs of a plurality of lines before and after an imaging position where the image sensor captures an image from the photometric outputs stored in the storage means. A panoramic imaging apparatus, comprising: a calculating unit; and an output value correcting unit that corrects an output value of the image sensor based on a calculation result of the photometric value calculating unit so that a change in brightness is continuous. apparatus. 6. An image pickup device, a lens system for forming an image of a subject on an image pickup surface of the image pickup device, and a rotating unit for integrally rotating the image pickup device and the lens system are provided. In a panoramic imaging apparatus that continuously captures a surrounding panoramic image by rotating the image sensor and the lens system, an image height imaged by the image sensor at a position preceding the image capturing position captured by the image sensor in a rotational direction. And a photometric means for performing photometry in substantially the same area, and a slit having a different width depending on the position is arranged in front of the photometric means, and the amount of light to the photometric means is changed by the slit at the position of the photometric area. A plurality of important light metering position setting means for setting the important light metering position, and a plurality of the slits used by the important light metering position setting means are prepared with various width shapes,
The slit used in accordance with the imaging mode is varied, the weighted light metering position changing means for changing the set weighted light metering position, the memory means for sequentially storing the light metering output from the light metering means, and the light metering output stored in the memory means are stored. A photometric value calculating unit that calculates an average value of photometric outputs of a plurality of lines before and after an imaging position where the image sensor captures an image, and a change in brightness of an output value of the image sensor based on a calculation result of the photometric value calculating unit. A panoramic imaging device, comprising: output value correcting means for correcting so as to be continuous.