WO2007135885A1 - 撮像装置及び撮像方法 - Google Patents
撮像装置及び撮像方法 Download PDFInfo
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- WO2007135885A1 WO2007135885A1 PCT/JP2007/059851 JP2007059851W WO2007135885A1 WO 2007135885 A1 WO2007135885 A1 WO 2007135885A1 JP 2007059851 W JP2007059851 W JP 2007059851W WO 2007135885 A1 WO2007135885 A1 WO 2007135885A1
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- mixing ratio
- subject
- signal
- distance
- wavelength
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
- G01C3/08—Use of electric radiation detectors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/257—Colour aspects
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
- H04N23/673—Focus control based on electronic image sensor signals based on contrast or high frequency components of image signals, e.g. hill climbing method
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/80—Camera processing pipelines; Components thereof
- H04N23/84—Camera processing pipelines; Components thereof for processing colour signals
- H04N23/843—Demosaicing, e.g. interpolating colour pixel values
Definitions
- the present invention relates to an imaging apparatus and an imaging method, and more particularly to an imaging apparatus and an imaging method for capturing a three-dimensional image using a plurality of imaging elements.
- a subject is imaged by using a plurality of image sensors with different positional forces to obtain a correlation between captured images, and the subject is determined using parallax with respect to the same subject using parameters such as the position of the image sensor and the focal length.
- three-dimensional imaging devices that measure the position (distance) of the camera (see Patent Document 1 to Patent Document 3).
- the luminance signal Y obtained from each wavelength signal (RGB signal or the like) output from the imaging device is used to detect the distance of the subject.
- the luminance signal Y is usually obtained by mixing each wavelength signal output from the image sensor force at a fixed ratio.
- Patent Document 2 JP 2000-186929 A
- Patent Document 3 Japanese Patent Laid-Open No. 2000-347133
- the subject power that has passed through a pan focus (fixed focus) lens The reflected light has a different focus for each wavelength.
- the image formation surface is light of each wavelength, that is, red (R), green (G ) And blue (B) light.
- the focal lengths of the lenses 17a to 17c are constant, the optimum position (distance) of the subject in focus differs for each wavelength. That is, red light is focused on a subject at a far position compared to green light, and blue light is focused on a subject located near and far compared with green light.
- the green signal when the subject is at a close distance of several tens of centimeters or less, the green signal is high! The power to obtain the MTF characteristic is large. As described above, the ratio of the green signal is large. It will become the image. In addition, when the subject is a distant view, the red signal has a high ratio of high V and MTF characteristics that can obtain MTF characteristics. As described above, when the luminance signal Y, in which each wavelength signal is mixed at a fixed ratio, is used, there is a problem that the distance measurement accuracy may not be obtained depending on the position of the subject.
- An object of the present invention is to provide an image pickup apparatus and an image pickup method using a plurality of image pickup devices, and an image pickup apparatus capable of performing high-precision distance measurement regardless of the position of a subject. It is to provide an imaging method.
- the invention described in claim 1 is an imaging apparatus, comprising: a plurality of imaging elements that convert incident light into electrical signals for each of a plurality of types of wavelengths; A luminance signal generation unit that is provided for each of the plurality of imaging elements and generates a luminance signal by mixing a plurality of wavelength signals output from the plurality of imaging elements at a predetermined mixing ratio; and the plurality of imaging elements and a subject A mixing ratio control unit that changes a mixing ratio of the plurality of wavelength signals for each of the plurality of image sensors in accordance with the positional relationship between the subject and the subject based on a correlation between luminance signals obtained for the plurality of image sensors. And a distance detection unit for detecting the distance to.
- the mixing ratio of each wavelength signal is changed in accordance with the positional relationship between the image sensor and the subject, and the light having the optimum wavelength is used in a large amount. Compared to the case of using a luminance signal mixed with a fixed ratio of wavelength signals, Regardless, it is possible to perform highly accurate distance measurement.
- the invention described in claim 2 is the imaging apparatus according to claim 1, wherein the relative positional relationship between the subject images formed on each of the plurality of imaging elements is detected.
- a position detection unit is provided, and the mixing ratio control unit changes the mixing ratio according to a positional relationship between the plurality of imaging elements and the subject detected by the position detection unit.
- the mixing ratio of each wavelength signal is set so that the light of the optimum wavelength increases. It becomes possible to change.
- the invention according to claim 3 is the imaging apparatus according to claim 1 or claim 2, wherein the mixing ratio control unit calculates a coefficient to multiply each of the plurality of wavelength signals.
- the mixing ratio is changed by changing.
- the invention described in claim 4 is the imaging apparatus according to any one of claims 1 to 3, wherein the mixing ratio control unit includes the imaging element and a subject.
- the mixing ratio is changed so that the ratio of the long wavelength signal is large when the distance between the imaging element and the subject is close, and the ratio of the short wavelength signal is increased when the distance between the imaging element and the subject is short.
- the distance depends on the distance of the subject.
- the invention according to claim 5 is the imaging apparatus according to any one of claims 1 to 3, wherein the mixture ratio control unit includes the plurality of imaging elements.
- the ratio of the long wavelength signal is large when the distance between the subject images formed on the image is short, and the mixing ratio is changed so that the ratio of the short wavelength signal is large when the distance between the subject images is long.
- the distance between the subject images formed on the plurality of image sensors becomes narrower as the subject distance increases, and becomes wider as the subject distance decreases. Therefore, it is possible to obtain a luminance signal with high MTF characteristics by increasing the proportion of wavelength signals that are focused according to the mutual distance of the subject images.
- the invention according to claim 6 is the imaging apparatus according to any one of claims 1 to 5, wherein the mixture ratio control unit is connected to the same imaging device. The mixing ratio is changed for each of a plurality of formed subjects.
- the invention according to claim 7 is an imaging apparatus, provided with a plurality of imaging elements for converting incident light into electrical signals for a plurality of types of wavelengths, and for each of the plurality of imaging elements.
- a filter that separates each of the plurality of output wavelength signals into a high-frequency component and a low-frequency component; and a low-frequency component for each of the plurality of wavelength signals is mixed at a predetermined mixing ratio.
- a high-frequency luminance signal is generated by mixing a high-frequency component for each of the plurality of wavelength signals at a predetermined mixing ratio.
- a luminance signal generation unit that generates a luminance signal by adding the low-frequency luminance signal, a distance detection unit that detects a distance to the subject based on a correlation of the luminance signals obtained for each of the plurality of image sensors, It is characterized by providing.
- the high-frequency component and the low-frequency component of each wavelength signal are separated, and the low-frequency component is mixed at a fixed mixing ratio regardless of the distance of the subject. Even when the signal is shared with the monitor signal, the color reproducibility of the monitor image can be ensured.
- the invention according to claim 8 is the imaging apparatus according to claim 7, wherein the low-frequency luminance signal generation unit applies a coefficient to the low-frequency component for each of the plurality of wavelength signals.
- the low frequency component is set to a predetermined mixing ratio by multiplying.
- the invention according to claim 9 is the imaging apparatus according to claim 7 or 8, wherein the relative positional relationship between the subject images formed on each of the plurality of imaging elements And a mixing ratio control unit that changes a mixing ratio of the high-frequency components in accordance with a detection result of the position detecting unit.
- high frequency components with higher MTF characteristics are obtained by separating high frequency components with a filter and changing the mixing ratio of the high frequency components according to the distance of the subject. It is possible to obtain a signal and perform highly accurate ranging.
- the invention according to claim 10 is the imaging device according to claim 9, wherein the mixing ratio control unit changes a coefficient by which a high-frequency component for each of the plurality of wavelength signals is multiplied. Thus, the mixing ratio is changed.
- the invention according to claim 11 is an imaging apparatus, provided with a plurality of imaging elements that convert incident light into electrical signals for each of a plurality of types of wavelengths, and for each of the plurality of imaging elements. Correspondence between a filter that separates high-frequency components from each of a plurality of output wavelength signals and a high-frequency luminance signal obtained by mixing the high-frequency components for each of the plurality of image sensors. And a distance detector that detects the distance to the subject based on the above.
- the high-frequency component is filtered by the filter. It is possible to obtain a high-frequency luminance signal having a mixing ratio in which the ratio of the wavelength signal focused on the subject is large simply by separating. This makes it possible to perform highly accurate ranging using high-frequency luminance signals with high MTF characteristics.
- the high-frequency component and low-frequency component of each wavelength signal are separated, and the low-frequency component is mixed at a fixed mixing ratio regardless of the distance of the subject. Therefore, the luminance signal for position detection is used as the monitor signal. Even when shared with the monitor, color reproducibility of the monitor image can be ensured.
- the invention according to claim 12 is the imaging apparatus according to claim 11, wherein the relative positional relationship between the subject images formed on each of the plurality of imaging elements is detected.
- the high frequency component having a higher MTF characteristic is obtained by separating the high frequency component by the filter and changing the mixing ratio of the high frequency component according to the distance of the subject. It is possible to obtain a signal and perform highly accurate ranging.
- the invention according to claim 13 is the imaging device according to claim 9, 10, or claim 12, wherein the mixing ratio control unit is the imaging element.
- the mixing ratio is adjusted so that the ratio of the high-frequency component of the short-wavelength signal is large. It is characterized by changing.
- the long wavelength light is focused on the far subject and the short wavelength light is focused on the near subject, it depends on the distance of the subject.
- the ratio of the high-frequency component of the focused wavelength signal By increasing the ratio of the high-frequency component of the focused wavelength signal, a high-frequency luminance signal with high MTF characteristics can be obtained.
- the invention described in claim 14 is the image pickup device described in claim 9, 10, or 12, wherein the mixture ratio control unit includes the plurality of image pickup devices.
- the ratio of the high-frequency component of the long-wavelength signal is large.
- the ratio of the high-frequency component of the short-wavelength signal is It is characterized by changing the mixing ratio so as to increase.
- the distance between the subject images formed on the plurality of image sensors becomes narrower as the subject distance increases, and becomes wider as the subject distance decreases. Therefore, it is possible to obtain a high-frequency luminance signal with high MTF characteristics by increasing the ratio of the high-frequency component of the wavelength signal that is focused according to the distance between the subject images.
- the invention according to claim 15 is the imaging device according to any one of claims 9, 10, 12 to 14, wherein the mixture ratio is
- the control unit is characterized in that the mixing ratio is changed for each of a plurality of subjects imaged on the same imaging element.
- the invention according to claim 16 is the imaging apparatus according to any one of claims 1 to 15, wherein the plurality of wavelength signals are a red signal, a green signal, and a green signal. It is characterized by a green light.
- the above-described operation can be obtained even when the plurality of wavelength signals are a red signal, a green signal and a blue signal.
- the invention according to claim 17 is an imaging method, wherein a plurality of imaging devices that convert incident light into electrical signals for a plurality of types of wavelengths are used, and output from the plurality of imaging devices.
- a plurality of wavelength signals mixed at a predetermined mixing ratio to generate a luminance signal for each of the plurality of image sensors, and the plurality of wavelength signals according to a positional relationship between the image sensor and the subject.
- a mixing ratio control step of changing a mixing ratio of the plurality of wavelength signals for each image sensor; and a distance detection step of detecting a distance to a subject based on a correlation of luminance signals obtained for the plurality of image sensors. It is characterized by having.
- the mixing ratio of each wavelength signal is changed according to the positional relationship between the image sensor and the subject, and the light having the optimum wavelength is used in a large amount. Compared to the case of using a luminance signal mixed with a fixed ratio of wavelength signals, it is possible to perform highly accurate distance measurement regardless of the position of the subject.
- the invention according to claim 18 is the imaging method according to claim 17, wherein, in the mixing ratio control step, the relative image of the subject image formed on each of the plurality of imaging elements is compared. A position detection unit that detects a target positional relationship is used, and the mixing ratio is changed according to the positional relationship between the plurality of image sensors and the subject detected by the position detection unit. [0045] According to the invention of claim 18, by using the relative positional relationship of the subject image by the plurality of image sensors, the mixing ratio of each wavelength signal is set so that the light of the optimum wavelength increases. It becomes possible to change.
- the invention according to claim 19 is the imaging method according to claim 17 or 18, wherein in the mixing ratio control step, each of the plurality of wavelength signals is multiplied.
- the mixing ratio is changed by changing the coefficient.
- the invention according to claim 20 is the imaging method according to any one of claims 17 to 19, wherein in the mixing ratio control step, the imaging element and When the distance to the subject is long, the ratio of the long wavelength signal is large.The distance between the imaging device and the subject is close! When the distance is short, the mixing ratio is changed so that the ratio of the short wavelength signal is large.
- the long wavelength light is focused on the far subject and the short wavelength light is focused on the near subject, it depends on the distance of the subject.
- the proportion of wavelength signals that are in focus it is possible to obtain luminance signals with high MTF characteristics.
- the invention according to claim 21 is the imaging method according to any one of claims 17 to 19, wherein the plurality of imaging elements are included in the mixing ratio control step.
- the ratio of the long wavelength signal is large.
- the mixing ratio is changed so that the ratio of the short wavelength signal is large. It is characterized by doing.
- the mutual distance between the subject images formed on the plurality of image sensors becomes narrower as the subject distance increases, and becomes wider as the subject distance decreases. Therefore, it is possible to obtain a luminance signal with high MTF characteristics by increasing the proportion of wavelength signals that are focused according to the mutual distance of the subject images.
- the invention according to claim 22 is the imaging method according to any one of claims 17 to 21, wherein in the mixing ratio control step, the same imaging device is used. The mixing ratio is changed for each of a plurality of formed subjects.
- the invention described in claim 23 is an imaging method, wherein a plurality of imaging devices that convert incident light into electrical signals for each of a plurality of types of wavelengths, and the force output of each of the plurality of imaging devices.
- a filter that separates each of the plurality of wavelength signals into a high-frequency component and a low-frequency component is used, and the low-frequency component for each of the plurality of wavelength signals is mixed at a predetermined mixing ratio to generate a low-frequency luminance signal.
- Generating a high-frequency luminance signal by mixing high-frequency components for each of the plurality of wavelength signals at a predetermined mixing ratio, and adding the high-frequency luminance signal and the low-frequency luminance signal.
- a luminance signal generation step for generating a luminance signal, and a distance detection step for detecting a distance to the subject based on a correlation of the luminance signals obtained for each of the plurality of imaging elements.
- the high-frequency component since only the light of the wavelength that is focused on the subject remains among the high-frequency components of each wavelength, the high-frequency component remains in the filter.
- the high-frequency components By separating the high-frequency components, it is possible to obtain a high-frequency luminance signal with a mixing ratio in which the proportion of the wavelength signal focused on the subject is large. This makes it possible to perform highly accurate ranging using high-frequency luminance signals with high MTF characteristics.
- the high-frequency component and the low-frequency component of each wavelength signal are separated, and the low-frequency component is mixed at a fixed mixing ratio regardless of the distance of the subject. Even when the signal is shared with the monitor signal, the color reproducibility of the monitor image can be ensured.
- the invention according to claim 24 is the imaging method according to claim 23, wherein the low frequency component is obtained by multiplying the low frequency component for each of the plurality of wavelength signals by a coefficient. Is a predetermined mixing ratio.
- the low frequency component can be set to a predetermined mixing ratio by multiplying the low frequency component for each of the plurality of wavelength signals by a coefficient.
- the invention described in claim 25 is the imaging method according to claim 23 or 24, wherein the relative position of the subject image formed on each of the plurality of image sensors is defined. Relationship It has a mixing ratio control step of using a position detecting unit to detect and changing the mixing ratio of the high frequency component according to the detection result of the position detecting unit.
- the high frequency component having a higher MTF characteristic is obtained by separating the high frequency component by the filter and changing the mixing ratio of the high frequency component according to the distance of the subject. It is possible to obtain a signal and perform highly accurate ranging.
- the invention according to claim 26 is the imaging method according to claim 25, wherein the high-frequency component for each of the plurality of wavelength signals is multiplied in the mixing ratio control step.
- the mixing ratio is changed by changing a coefficient.
- the invention according to claim 27 is an imaging method, wherein a plurality of imaging elements that convert incident light into electrical signals for each of a plurality of types of wavelengths, and each of the plurality of imaging elements is a force output. And a filter that separates the high-frequency components of each of the plurality of wavelength signals, and based on the correlation of the high-frequency luminance signal obtained by mixing the high-frequency components for each of the plurality of imaging elements, It has the distance detection process which detects a distance, It is characterized by the above-mentioned.
- the high-frequency component since only the light of the wavelength that is focused on the subject remains among the high-frequency components of each wavelength, the high-frequency component remains in the filter.
- the high-frequency components By separating the high-frequency components, it is possible to obtain a high-frequency luminance signal with a mixing ratio in which the proportion of the wavelength signal focused on the subject is large. This makes it possible to perform highly accurate ranging using high-frequency luminance signals with high MTF characteristics.
- the high-frequency component and the low-frequency component of each wavelength signal are separated, and the low-frequency component is mixed at a fixed mixing ratio regardless of the distance of the subject. Even when the signal is shared with the monitor signal, the color reproducibility of the monitor image can be ensured.
- the invention according to claim 28 is the imaging method according to claim 27, A position ratio detection unit that detects a relative positional relationship of subject images formed on each of the plurality of image sensors, and a mixture ratio that changes the mixture ratio of the high-frequency components according to the detection result of the position detection unit. It has a control process.
- the high-frequency component having higher MTF characteristics is obtained by separating the high-frequency component by the filter and changing the mixing ratio of the high-frequency component according to the distance of the subject. It is possible to obtain a signal and perform highly accurate ranging.
- the invention according to claim 29 is the imaging method according to claim 25, claim 26 or claim 28, wherein in the mixing ratio control step, the image sensor and subject When the distance between and is long, the ratio of the high-frequency component of the long-wavelength signal is large. When the distance between the imaging device and the object is short, the mixing ratio is changed so that the ratio of the high-frequency component of the short-wavelength signal is large. It is characterized by that.
- the distance depends on the distance of the subject.
- the invention according to claim 30 is the imaging method according to claim 25, claim 26 or claim 28, wherein in the mixing ratio control step, the plurality of imaging elements When the distance between the subject images is short, the high-frequency component of the long-wavelength signal is large.When the distance between the subject images is far, the high-frequency component of the short-wavelength signal is large. The mixing ratio is changed.
- the mutual distance between the subject images formed on the plurality of image sensors becomes narrower as the subject distance increases, and becomes wider as the subject distance decreases. Therefore, it is possible to obtain a high-frequency luminance signal with high MTF characteristics by increasing the ratio of the high-frequency component of the wavelength signal that is focused according to the distance between the subject images.
- the invention according to claim 31 is the imaging method according to any one of claims 25, 26, 28 to 30, wherein the mixture ratio is In the control step, the mixing ratio is changed for each of a plurality of subjects imaged on the same image sensor. [0074] According to the invention described in claim 31, it is possible to optimize the mixing ratio of each wavelength signal for a plurality of objects existing in the same frame.
- the invention described in claim 32 is the imaging method according to any one of claims 17 to 31, wherein the plurality of wavelength signals are a red signal, a green signal, and It is characterized by a green light.
- the mixing ratio of each wavelength signal can be changed by changing a coefficient to be multiplied to each of the plurality of wavelength signals. It becomes possible.
- a high-frequency luminance signal having a high ratio of high-frequency components suitable for a subject and having a high MTF characteristic is obtained to perform high-precision ranging. Can be done.
- a high-frequency luminance signal having a high ratio of high-frequency components suitable for a subject and having a high MTF characteristic is obtained to perform high-precision ranging. Can be done.
- the mixing ratio of each wavelength signal can be optimized for a plurality of subjects existing in the same frame. It becomes possible.
- the high-frequency luminance signal having a high ratio of high-frequency components suitable for the subject and having a high MTF characteristic can be obtained to perform high-precision ranging. Can be done.
- the low frequency component can be set to a predetermined mixing ratio.
- the mixing ratio of the high frequency components can be changed.
- a high-frequency luminance signal having a high ratio of high-frequency components suitable for a subject and having a high MTF characteristic is obtained to perform high-precision ranging. Can be done.
- the luminance signal for position detection is shared with the monitor signal, the color reproducibility of the monitor image can be ensured.
- the high-frequency luminance signal having a high ratio of high-frequency components suitable for the subject and having a high MTF characteristic can be obtained to perform high-precision ranging. Can be done.
- a high-frequency luminance signal having a high ratio of high-frequency components suitable for a subject and having a high MTF characteristic can be obtained to perform high-precision ranging. Is possible.
- FIG. 1 is a block diagram showing an overall configuration of an imaging apparatus according to a first embodiment.
- FIG. 2 is a conceptual diagram showing the relationship between the image sensor according to the first embodiment and the distance of the subject.
- FIG. 3 is a block diagram showing an overall configuration of an imaging apparatus according to a second embodiment.
- FIG. 4 is a block diagram showing an overall configuration of an imaging apparatus according to a third embodiment.
- FIG. 5 is a block diagram showing an overall configuration of an imaging apparatus according to a fourth embodiment.
- FIG. 6 is a block diagram showing an overall configuration of an imaging apparatus according to a fifth embodiment.
- FIG. 7 is a conceptual diagram showing the relationship between a fixed focus lens and light of each wavelength.
- FIG. 8 is a conceptual diagram showing a relationship between a fixed focus lens and a subject distance.
- the imaging device 1 includes two imaging elements 2a and 2b that constitute a 3D camera (stereo camera), and the imaging device 2a and 2b also captures different positional forces of the subject.
- the correlation between the captured images is obtained, and the position (distance) of the subject is measured using parameters such as the position of the image sensor and the focal distance based on the parallax with respect to the same subject.
- the imaging device 1 is not limited to two as long as it has a plurality of imaging elements.
- the image sensors 2a and 2b convert incident light into electrical signals for each of a plurality of types of wavelengths.
- the imaging devices 2a and 2b according to the present embodiment are configured by sequentially and sequentially arranging pixels each having a filter of each wavelength of R (red), G (green), and B (blue) in the horizontal direction. (Red), G (green), B (blue) signals are output repeatedly in sequence.
- the light receiving surfaces of the image sensors 2a and 2b are distances between the image forming positions according to the image forming positions on the light receiving surfaces of the same subject.
- the imaging plane differs depending on the light of each wavelength.
- the imaging plane of B (blue) light becomes the closest in the order of G (green) light and R (red) light. Therefore, as shown in Fig. 8, when the image planes of the light of each wavelength are the same, the A light is focused on a subject at a far position and the B light is at a close position compared to the G light. Focus on the subject.
- the distance between the positions where the transmitted light of the lens units 3a and 3b forms an image becomes narrower as the distance between the image sensors 2a and 2b and the subject increases.
- the distance between the image sensors 2a and 2b is the minimum value of the distance between them. It corresponds to the distance of the image plane.
- the light receiving surfaces of the image sensors 2a and 2b are divided into areas according to the mutual distances of the imaging positions. As described above, each area is changed according to the position of the subject.
- the R light forms the sharpest image
- the B light forms the sharpest image
- the G light forms the sharpest image in the middle G area.
- the B light is in focus in the B area
- Fig. 2 (b) in the G area
- Fig. 2 (c) in the R area !
- the R light is in focus.
- the imaging device 1 includes imaging elements 2a and 2b, and lens units 3a and 3b are provided in front of the imaging elements 2a and 2b, respectively.
- the image pickup devices 2a and 2b are configured to photoelectrically convert incident light that has passed through the lens units 3a and 3b into electric signals.
- the lens units 3a and 3b condense the light from the subject on the imaging surfaces of the image sensors 2a and 2b by the lens, and the amount of light condensed on the image formation surfaces of the image sensors 2a and 2b by the diaphragm. It is designed to adjust.
- the imaging device 1 includes a system control unit 4.
- the system control unit 4 includes a CPU (Central Processing Unit), a RAM (Random Access Memory) composed of rewritable semiconductor elements, and a ROM (Read Only Memory) composed of nonvolatile semiconductor memory. ing.
- CPU Central Processing Unit
- RAM Random Access Memory
- ROM Read Only Memory
- each component of the imaging device 1 is connected to the system control unit 4, and the system control unit 4 expands the processing program recorded in the ROM into the RAM and executes the processing program by the CPU. By doing so, these components are driven and controlled.
- the system control unit 4 includes aperture control units 5a and 5b, timing generation units 6a and 6b, color separation interpolation units 7a and 7b, monitor signal generation units 8a and 8b, and a mixture ratio control unit.
- 9a, 9b, luminance signal generators 10a, 10b, position detector 11 and distance detector 12 are electrically connected.
- the aperture controllers 5a and 5b drive and control the aperture that adjusts the amount of light collected by the lenses of the lens units 3a and 3b. That is, the aperture control units 5a and 5b are configured to open the aperture unit immediately before the imaging operation of the image sensors 2a and 2b starts based on the control value input from the system control unit 4, and after the elapse of a predetermined exposure time, The incident light quantity is controlled by blocking the incident light to the image pickup devices 2a and 2b during non-imaging.
- the timing generators 6a and 6b generate predetermined timing pulses and output them to the image sensors 2a and 2b, thereby performing imaging operations of the image sensors 2a and 2b (charge accumulation based on exposure, readout of accumulated charges, etc.) To control!
- the color separation interpolators 7a and 7b are used for the R signal, G signal, and B signal from the sequential repetition of the R (red), G (green), and B (blue) signals output from the image sensors 2a and 2b. As well as separating each of the
- color interpolation processing is performed on electrical signals of B, G, and R colors.
- the monitor signal generators 8a and 8b perform black reference correction for correcting the black level that is the lowest luminance value to the reference value for each of the R, G, and B signals output from the color separation interpolation units 7a and 7b.
- the monitor signal is generated by performing image processing such as AWB (automatic white balance) to adjust white, color correction to correct the color component value, and color space conversion to convert the color space from RGB to YUV. It has become.
- the mixing ratio control units 9a and 9b change the mixing ratio of a plurality of wavelength signals for each of the image sensors 2a and 2b in accordance with the positional relationship between each of the image sensors 2a and 2b and the subject. .
- the mixture ratio control units 9a and 9b of the present embodiment have a short distance between the image sensor 2a and 2b and the subject with a large proportion of long wavelength signals. Sometimes the mixing ratio is changed so that the proportion of short wavelength signals increases.
- the mixing ratio control units 9a, 9b are luminance signals ,, Y in which the R signal, the G signal, and the B signal are set to a predetermined mixing ratio.
- the ratio of R signal, G signal, and B signal in 2 1 2 may be 100%.
- the mixing ratio control units 9a and 9b are configured such that when the subject images formed on the imaging devices 2a and 2b are close to each other, the subject images having a high ratio of long wavelength signals are far from each other. In some cases, the mixing ratio can be changed so that the proportion of the short wavelength signal increases.
- the mixture ratio control units 9a and 9b depend on whether the light from the subject is imaged in the R area, the G area, or the B area among the imaging surfaces of the imaging devices 2a and 2b. It is also possible to change the mixing ratio of R signal, G signal, and B signal. Specifically, when the subject image is formed in the R area, the subject distance is relatively far, and when the subject image is formed in the B area where the ratio of the R signal is large, the subject distance is relatively If the image is focused on the G area with a large B signal ratio, the G signal ratio is increased in the middle.
- the mixing ratio control units 9a and 9b provide a switching section near the boundary between the areas of the image sensors 2a and 2b. It is desirable to set the coefficient so that the coefficient gradually changes during this switching period. This suppresses errors in position detection based on the luminance signals Y and Y obtained near the boundary of each area.
- the luminance signals, and Y depend on the distance between the imaging devices 2a and 2b and the subject.
- the mixture ratio control units 9a and 9b are provided for each of a plurality of subjects imaged on the same image sensor. It is also possible to change the mixing ratio of the wavelength signals. This makes it possible to optimize the mixing ratio of each wavelength signal for a plurality of subjects existing in the same frame.
- the luminance signal generation units 10a and 10b are configured to generate a luminance signal by mixing a plurality of wavelength signals output from each of the imaging devices 2a and 2b at a predetermined mixing ratio.
- the luminance signal generation units 10a and 10b of the present embodiment mix the R signal, the G signal, and the B signal according to the mixing ratio changed by the mixing ratio control units 9a and 9b to generate the luminance signals ⁇ and Y. It has become.
- the position detector 11 detects the relative positional relationship between the subject images formed on the image sensors 2a and 2b. That is, the position detection unit 11 changes the mixture ratio based on the detection result (first detection result) of the position detection unit 11 by the mixture ratio control unit 9, and the luminance signal generation unit 10a, Each wavelength signal is mixed in 10b. Then, by obtaining the correlation of the obtained luminance signals ⁇ ⁇ ⁇ and Y, the same subject of the image sensors 2a and 2b is obtained.
- the relative positional relationship (the second detection result) is detected.
- the distance detection unit 12 detects the distance to the object based on the correlation of the luminance signals obtained for the image sensors 2a and 2b. That is, the distance detection unit 12 uses the parameters such as the position of the image sensor and the focal length based on the relative positional relationship of the same subject imaged on the image sensors 2a and 2b detected by the position detection unit 11. (Distance) is detected.
- the color separation interpolation units 7a and 7b separate the R signal, the G signal, and the B signal from the sequential repetition signals of the R, G, and B signals output from the imaging devices 2a and 2b, respectively. At the same time, color interpolation processing is performed for each wavelength signal.
- monitor signal generators 8a and 8b output R, G output from the color separation interpolators 7a and 7b.
- the B and B signals are subjected to image processing such as black reference correction, AWB (automatic white balance), color correction, and color space conversion to generate monitor signals.
- image processing such as black reference correction, AWB (automatic white balance), color correction, and color space conversion to generate monitor signals.
- the mixture ratio control units 9a and 9b are used as reference luminance signals ⁇ and Y according to the distance of the subject. Change the mixing ratio of R signal, G signal, and B signal.
- the mixture ratio control units 9a and 9b are configured to output the R signal, the G signal, and the B signal depending on whether the subject image is formed in the R area, the G area, or the B area of the image sensors 2a and 2b. It is also possible to change the signal mixing ratio. As described above, each area changes according to the position of the subject. For example, if the subject moves to the left and right, the R area, the G area, and the B area also shift to the left and right, respectively.
- the luminance signal generation units 10a and 10b generate the luminance signals ⁇ and Y by mixing the R signal, the G signal, and the B signal according to the mixing ratio changed by the mixing ratio control units 9a and 9b. To do.
- the position detection unit 11 receives the luminance signals ⁇ , Y obtained from the luminance signal generation units 10a, 10b.
- the distance detector 12 determines the position of the image sensor from the relative positional relationship (second detection result) of the same subject imaged on the image sensors 2a and 2b detected by the position detector 11.
- the position (distance) of the subject is detected using parameters such as the focal length.
- the present embodiment by changing the mixing ratio of each wavelength signal in accordance with the positional relationship between the imaging devices 2a and 2b and the subject, and using a lot of light of the optimum wavelength, Compared to the case of using a luminance signal mixed at a fixed ratio, it is possible to perform highly accurate ranging regardless of the position of the subject.
- the mixing ratio of each wavelength signal can be changed so that the light of the optimum wavelength increases.
- the long wavelength light is focused on the subject, the near !, the short wavelength light is focused on the subject. Since it is in focus, it is possible to obtain a luminance signal with high MTF characteristics by increasing the proportion of the wavelength signal that is in focus according to the distance of the subject.
- the distance between the subject images formed on the image sensors 2a and 2b becomes narrower as the subject distance increases, and becomes wider as the subject distance decreases.
- By increasing the proportion of wavelength signals that are focused according to the mutual distance it is possible to obtain a luminance signal with high MTF characteristics.
- the above-described operation can also be obtained when a plurality of wavelength signals are an R signal, a G signal, and a B signal.
- the imaging device 1 of the present embodiment includes high-pass filters 13a and 13b instead of the mixing ratio controllers 9a and 9b, and also includes low-frequency luminance signal generators 14a and 14b.
- the high-pass filters 13a and 13b pass only the high-frequency components of the wavelength signals output from the color separation interpolation units 7a and 7b, thereby allowing the high-frequency components R, G, and B of the wavelength signals to pass.
- the high frequency component is output to the luminance signal generation units 10a and 10b
- the low frequency component is output to the low frequency luminance signal generation units 14a and 14b.
- the low-frequency luminance signal generation units 14a and 14b are configured to generate low-frequency luminance signals Y and Y by mixing low frequency components for each of a plurality of wavelength signals at a predetermined mixing ratio.
- the mixing ratio means a predetermined fixed mixing ratio.
- Low frequency luminance signals Y, Y are obtained by multiplying the low frequency components of each wavelength by a predetermined coefficient and mixing them by a multiplier circuit (not shown).
- luminance signal generators 10a and 10b are output to the luminance signal generators 10a and 10b.
- the luminance signal generators 10a and 10b mix high frequency components for each wavelength signal to generate high frequency luminance signals Y 1 and Y
- HI H2 is generated and high-frequency luminance signals Y and Y
- Luminance signals ⁇ and ⁇ are generated by adding LI L2.
- the luminance signal generation units 10a and 10b mix the high frequency components for each wavelength signal as they are (or mix them at a predetermined mixing ratio) to obtain the high frequency luminance signals Y and Y.
- the high-frequency component and low-frequency component of each wavelength signal are separated, and the low-frequency component is mixed at a fixed mixing ratio regardless of the distance of the subject. Even when the signal is shared with the monitor signal, the color reproducibility of the monitor image can be ensured.
- the high-pass filters 13a and 13b separate high-frequency components and low-frequency components of each wavelength signal by allowing only the high-frequency components of the wavelength signals output from the color separation interpolation units 7a and 7b to pass. Then, the high frequency component is output to the luminance signal generation units 10a and 10b, and the low frequency component is output to the low frequency luminance signal generation units 14a and 14b.
- the low-frequency luminance signal generators 14a and 14b generate low-frequency luminance signals, and Y by mixing the low-frequency components of the respective wavelength signals at a predetermined mixing ratio to generate the luminance signal generators 10a and 10a, Go out to 10b
- the luminance signal generators 10a and 10b generate high-frequency luminance signals Y and Y based on the high-frequency components of the respective wavelength signals separated by the high-pass filters 13a and 13b.
- HI H2 is generated, and the high-frequency luminance signals Y 1 and Y and the low-frequency luminance signals Y 1 and Y are added to generate the luminance signals Y 1 and Y.
- the luminance signal generators 10a and 10b mix the high frequency components of the respective wavelength signals as they are. A luminance signal is generated.
- the high-frequency component and low-frequency component of each wavelength signal are separated, and the low-frequency component is mixed at a fixed mixing ratio regardless of the distance of the subject. Even when the signal is shared with the monitor signal, the color reproducibility of the monitor image can be ensured.
- the low frequency component can be set to a predetermined mixing ratio.
- the imaging device 1 of the present embodiment includes mixing ratio controllers 15a and 15b in addition to the high-pass filters 13a and 13b and the low-frequency luminance signal generators 14a and 14b.
- the mixing ratio control units 15a and 15b change the mixing ratio of the high-frequency components of each wavelength signal in accordance with the distance of the subject. In this embodiment, when the distance between the image sensors 2a and 2b and the subject is long, the ratio of the high-frequency component of the long wavelength signal is large. When the distance between the image sensors 2a and 2b and the object is short, the short wavelength signal The mixing ratio is changed so that the proportion of high frequency components increases!
- the mixture ratio control units 15a and 15b are based on the detection result of the position detection unit 11 based on the detection result of the position detection unit 11 with reference to the high frequency luminance signal in which the R signal, the G signal, and the B signal have a predetermined mixture ratio.
- the ratio of the R signal is increased.
- the ratio of the B signal is increased.
- the ratio of the G signal is increased.
- the mixing ratio control units 15a and 15b are configured to change the mixing ratio by changing the coefficient by which each wavelength signal of the high-frequency luminance signal is multiplied by a multiplication circuit (not shown). .
- the mixing ratio control units 15a and 15b are configured so that when the subject images formed on the plurality of image pickup devices 2a and 2b are close to each other, subject images having a high ratio of high-frequency components of the long wavelength signal When the distance is long, it is also possible to change the mixing ratio so that the proportion of the high-frequency component of the short wavelength signal increases.
- the mixture ratio control units 15a and 15b have the R signal, the G signal, and the B signal depending on whether the subject image is formed in the R area, the G area, or the B area of the image sensors 2a and 2b. It is also possible to change the signal mixing ratio.
- the high-frequency luminance signals Y 1, Y having a large proportion of the wavelength signal focused on the subject simply by separating the high-frequency components with the high-pass filters 13a, 13b.
- the luminance signal generation units 10a and 10b mix the high frequency components of the respective wavelength signals according to the mixing ratio changed by the mixing ratio control units 15a and 15b, so that the high frequency luminance signals Y and Y
- HI H2 is generated, and the high-frequency luminance signal Y, Y and the low-frequency luminance signal Y, Y are added to obtain the luminance signal Y,
- the mixing ratio control units 15a and 15b determine the high-frequency component of each wavelength signal according to the distance of the subject. Change the mixing ratio. That is, based on the detection result of the position detection unit 11, when the distance of the subject is relatively far, the ratio of the R signal is increased when the distance of the subject is relatively far, and when the distance of the subject is relatively close, the ratio of the B signal is increased. If this is the case, increase the G signal ratio.
- the low-frequency luminance signal generators 14a and 14b generate low-frequency luminance signals, and Y by mixing the low-frequency components of the respective wavelength signals at a predetermined mixing ratio to generate the luminance signal generators 10a and 10a, To 10b
- the luminance signal generation units 10a and 10b are changed by the mixture ratio control units 15a and 15b. According to the mixing ratio, the high-frequency luminance signal Y, ⁇ ⁇
- HI H2 is generated, and the high-frequency luminance signal Y, Y and the low-frequency luminance signal Y, Y are added to obtain the luminance signal Y
- the high-frequency components are separated by the high-pass filters 13a and 13b, and the mixing ratio of the high-frequency components is changed according to the distance of the subject, so that the MTF characteristics are further improved. It becomes possible to obtain a high high-frequency luminance signal and perform highly accurate distance measurement.
- the mixing ratio of each wavelength signal can be changed so that the light of the optimum wavelength increases.
- the distance between the subject images formed on the image sensors 2a and 2b becomes narrower as the subject distance increases, and becomes wider as the subject distance decreases. Accordingly, by increasing the proportion of the high-frequency component of the wavelength signal that is in focus, it is possible to obtain a high-frequency luminance signal with high MTF characteristics.
- the imaging device 1 of the present embodiment has a power low-pass luminance signal generator 14a, which includes high-pass filters 13a, 13b instead of the mixing ratio controllers 9a, 9b, as in the second embodiment. 14b and luminance signal generators 10a and 10b are not provided.
- the high-pass filters 13a and 13b separate only the high-frequency components from the wavelength signals output from the color separation interpolation units 7a and 7b and output them to the position detection unit 11.
- the high-pass filters 13a and 13b can generate high-frequency components.
- the position detection unit 11 compares the phase of the image pickup devices 2a and 2b with respect to the same subject based on the correlation of the high-frequency luminance signals, and Y obtained by mixing the high-frequency components for the image pickup devices 2a and 2b.
- the position detection unit 11 obtains the high-frequency band obtained by mixing the high-frequency components of each wavelength signal for each of the image sensors 2a and 2b. By obtaining the correlation between the luminance signals ⁇ and Y, the same subject on the image sensors 2a and 2b
- the relative positional relationship is detected.
- the high-pass filters 13a and 13b Thus, only by separating high-frequency components, a high-frequency luminance signal with a high mixing ratio can be obtained with a high proportion of wavelength signals focused on the subject. This makes it possible to perform high-precision distance measurement using high-frequency luminance signals with high MTF characteristics.
- the high-frequency component and low-frequency component of each wavelength signal are separated, and the low-frequency component is mixed at a fixed mixing ratio regardless of the distance of the subject. Therefore, the luminance signal for position detection is used as the monitor signal. Even when shared with the monitor, color reproducibility of the monitor image can be ensured.
- the imaging device 1 of the present embodiment includes mixing ratio control units 15a and 15b.
- the mixing ratio control units 15a and 15b change the high-frequency component mixing ratio of each wavelength signal according to the distance of the subject.
- the ratio of the high frequency component of the long wavelength signal is
- the mixing ratio is changed so that the ratio of the high-frequency component of the short wavelength signal is increased.
- the mixing ratio control units 15a and 15b are configured so that when the subject images formed on the plurality of image pickup devices 2a and 2b are close to each other, subject images having a high proportion of high-frequency components of the long wavelength signal When the distance is long, it is also possible to change the mixing ratio so that the proportion of the high-frequency component of the short wavelength signal increases.
- the high-frequency luminance signals Y, Y with a high proportion of the wavelength signal focused on the subject can be obtained simply by separating the high-frequency components with the high-pass filters 13a, 13b as described above.
- the position detection unit 11 performs phase matching of high-frequency luminance signals ⁇ and Y obtained by mixing high-frequency components for each of the image pickup devices 2a and 2b according to the mixing ratio changed by the mixing ratio control units 15a and 15b.
- the mixing ratio controllers 15a and 15b change the mixing ratio of the high-frequency components of each wavelength signal according to the distance of the subject.
- the position detection unit 11 uses the same image sensor 2a, 2b based on the correlation of the high-frequency luminance signals ,, Y mixed according to the mixing ratio changed by the mixing ratio control unit 15a, 15b. Covered
- the high-frequency components are separated by the high-pass filters 13a and 13b, and the mixing ratio of the high-frequency components is changed according to the distance of the subject, so that the MTF characteristics are further improved. It is possible to obtain a high-frequency luminance signal and perform highly accurate distance measurement.
- the long wavelength light is focused on the far subject and the short wavelength light is focused on the near subject, the ratio of the high frequency component of the wavelength signal focused according to the distance of the subject By increasing the number, it is possible to obtain a high-frequency luminance signal with high MTF characteristics.
- the distance between the subject images formed on the image pickup devices 2a and 2b is the same as the distance of the subject.
- the narrower the distance and the wider the distance to the subject the wider the ratio of the high-frequency component of the wavelength signal that is focused according to the distance between the subject images. Can be obtained.
- the imaging apparatus and imaging method of the present invention in the imaging apparatus and imaging method using a plurality of imaging elements, highly accurate distance measurement can be performed regardless of the position of the subject.
Abstract
Description
Claims
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US12/300,911 US8040396B2 (en) | 2006-05-18 | 2007-05-14 | Image capturing apparatus and image capturing method |
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