WO2013054469A1 - 奥行き推定撮像装置および撮像素子 - Google Patents
奥行き推定撮像装置および撮像素子 Download PDFInfo
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- WO2013054469A1 WO2013054469A1 PCT/JP2012/005779 JP2012005779W WO2013054469A1 WO 2013054469 A1 WO2013054469 A1 WO 2013054469A1 JP 2012005779 W JP2012005779 W JP 2012005779W WO 2013054469 A1 WO2013054469 A1 WO 2013054469A1
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- mirror
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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
- H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
- H04N13/236—Image signal generators using stereoscopic image cameras using a single 2D image sensor using varifocal lenses or mirrors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B35/00—Stereoscopic photography
- G03B35/08—Stereoscopic photography by simultaneous recording
- G03B35/10—Stereoscopic photography by simultaneous recording having single camera with stereoscopic-base-defining system
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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
- H04N13/207—Image signal generators using stereoscopic image cameras using a single 2D image sensor
- H04N13/218—Image signal generators using stereoscopic image cameras using a single 2D image sensor using spatial multiplexing
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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
- H04N13/271—Image signal generators wherein the generated image signals comprise depth maps or disparity maps
Definitions
- This application relates to a monocular three-dimensional imaging technique that acquires depth information of a subject using one optical system and one imaging device.
- imaging device such as a CCD or CMOS.
- imaging device solid-state imaging device
- the pixel structure in an image sensor has been miniaturized.
- higher integration of pixels and drive circuits of the image sensor has been achieved.
- the number of pixels of the image sensor has increased significantly from about 1 million pixels to over 10 million pixels.
- the quality of the image obtained by imaging has improved dramatically.
- a thin liquid crystal display or a plasma display enables high-resolution and high-contrast display without taking up space, and high performance is realized.
- the flow of improving the quality of such a video spreads from a two-dimensional image to a three-dimensional image, and further, an imaging device capable of estimating the depth of a subject has begun to be developed.
- a technology that can acquire depth information using a monocular camera equipped with a plurality of microlenses and can freely change the focal position of the acquired image based on that information To do.
- a technique is called light field photography, and a monocular camera using it is called a light field camera.
- a light field camera a plurality of microlenses are arranged on an image sensor. Each microlens is disposed so as to cover a plurality of pixels.
- the depth of the subject can be estimated by calculating information related to the direction of incident light from the acquired image information.
- Such a camera is disclosed in Non-Patent Document 1, for example.
- Patent Document 1 discloses a technique for improving resolution using two imaging systems. In this technology, incident light is divided into two, and each of the divided incident lights is imaged by an imaging system having a microlens group arranged with a spatially shifted pitch of 1/2 pitch, and then the acquired images are synthesized. To improve the resolution.
- Patent Document 2 discloses a technique for switching between a normal imaging mode and a mode based on light field photography using one imaging system. According to this technique, a microlens whose focal length changes according to the applied voltage is used. The focal length of the microlens is set to infinity in the former mode, and is set to a predetermined distance in the latter mode. With such a mechanism, an image with high resolution and depth information can be obtained.
- Embodiment of this invention provides the imaging technique which can acquire depth information using the image pick-up element which has a structure different from a prior art.
- a depth estimation imaging device includes an imaging device in which a plurality of photosensitive cells are arranged on an imaging surface, an optical lens arranged to be condensed on the imaging surface, and an imaging lens disposed on the imaging surface.
- a translucent member having a first mirror that reflects at least a portion of light therein and a second mirror having the same reflection characteristics as the first mirror on the top surface
- a signal processing unit that processes photoelectric conversion signals output from the plurality of photosensitive cells.
- the reflective surface of the first mirror is inclined with respect to the upper surface of the translucent member, and the reflective surface of the second mirror is parallel to the upper surface.
- a light beam incident from one point of the subject through the optical lens is reflected by the first mirror, and further reflected by the second mirror, so that one part of the imaging surface is reflected.
- the irradiated region is arranged differently according to the depth of one point of the subject.
- a depth estimation imaging apparatus including an imaging element in which a plurality of photosensitive cells are arranged on an imaging surface, an optical lens arranged so as to collect light on the imaging surface, and the imaging surface.
- a translucent member disposed, the translucent member having a light beam splitting region that divides a light beam in a specific wavelength range incident from a part of a subject through the optical lens into at least three light beams, and the plurality of lights
- a signal processing unit for processing a photoelectric conversion signal output from the sensing cell.
- the light beam splitting region is composed of at least three partial regions including a first partial region, a second partial region, and a third partial region whose upper surfaces are located on the same plane.
- the reflective surfaces of the first and second mirrors are inclined with respect to the upper surface of the light beam splitting region, and the reflective surface of the third mirror is parallel to the upper surface.
- the first mirror, the second mirror, and the third mirror are at least one of the light beams in the specific wavelength region incident on the first partial region from the part of the subject through the optical lens.
- Light sensing The amount of received light detected by the first photosensitive cell group, the second photosensitive cell group, and the third photosensitive cell group by irradiating the third photosensitive cell group included in the cell.
- the distributions are different from each other and are arranged so as to differ according to the depth of the part of the subject.
- information indicating the depth of a subject can be obtained using an image sensor different from the conventional one.
- depth information can be calculated using infrared light, and normal resolution that does not cause resolution degradation due to visible light.
- An image can be obtained. That is, it becomes possible to obtain depth information and a normal image with a monocular camera.
- FIG. 1 is a configuration diagram of an imaging device in an exemplary embodiment 1.
- FIG. 3 is a schematic diagram of an imaging unit in Exemplary Embodiment 1.
- FIG. It is a top view of the translucent board in example Embodiment 1.
- FIG. 3 is a cross-sectional view taken along the line A-A ′ of the translucent plate in exemplary embodiment 1.
- 1 is a plan view of an image sensor in an exemplary embodiment 1.
- FIG. 3 is a schematic diagram for explaining the principle of imaging in exemplary embodiment 1.
- FIG. 3 is a flowchart illustrating a shooting operation in Exemplary Embodiment 1.
- FIG. 4B is a sectional view taken along line B-B ′ in FIG. 4A. It is sectional drawing which shows the 3rd modification of the light transmission board in illustrative Embodiment 1. FIG. It is sectional drawing which shows the 4th modification of the light transmission board in illustrative Embodiment 1.
- FIG. It is a top view of the translucent board in example Embodiment 2. It is a top view which shows the basic composition of the light transmission board in illustrative Embodiment 2.
- FIG. 6 is a cross-sectional view of the translucent plate taken along the line A-A ′ in Exemplary Embodiment 2.
- FIG. 6 is a cross-sectional view of the translucent plate taken along the line B-B ′ in Exemplary Embodiment 2. It is a conceptual diagram which shows the mode of the light incidence to the translucent board in illustrative Embodiment 2.
- FIG. 10 is a flowchart illustrating a shooting operation in Exemplary Embodiment 2.
- a depth estimation imaging apparatus includes an imaging element in which a plurality of photosensitive cells are arranged on an imaging surface, an optical lens arranged to be condensed on the imaging surface, and the imaging surface.
- a translucent member that is disposed and has a first mirror that reflects at least a portion of light inside, and a second mirror that has the same reflection characteristics as the first mirror on the top surface.
- a light-sensitive member; and a signal processing unit that processes photoelectric conversion signals output from the plurality of photosensitive cells.
- the reflective surface of the first mirror is inclined with respect to the upper surface of the translucent member, and the reflective surface of the second mirror is parallel to the upper surface, and the first mirror and the first mirror In the second mirror, a light beam incident from one point of the subject through the optical lens is reflected by the first mirror, and further reflected by the second mirror to irradiate a part of the imaging surface. Depending on the depth of the one point of the subject, the irradiated region is arranged differently.
- the signal processing unit detects information about the depth of the one point of the subject by detecting the region irradiated with the light flux based on photoelectric conversion signals output from the plurality of photosensitive cells. Is further provided.
- the depth information generation unit refers to information prepared by prescribing information that defines a correspondence relationship between the size of the region irradiated with the light flux and the depth of the one point of the subject. Generates information indicating
- the shape of the first mirror projected onto a plane parallel to the upper surface of the translucent member is a ring shape or a circular shape.
- the second mirror projected onto a plane parallel to the upper surface of the translucent member is positioned so as to surround the first mirror projected onto the plane.
- the translucent member includes a first mirror group including a plurality of mirrors having the same reflection characteristics, shape, and inclination angle with respect to the upper surface, including the first mirror, Each mirror of one mirror group is arranged so that the light beam reflected by each mirror is further reflected by the second mirror and irradiates different areas of the imaging surface.
- the second mirror projected onto a plane parallel to the upper surface of the translucent member is positioned so as to surround each mirror of the first mirror group projected onto the plane.
- At least one of the first mirror and the second mirror is light transmissive.
- the first mirror and the second mirror have characteristics of reflecting light in a specific wavelength range and transmitting visible light in other wavelength ranges.
- the depth estimation imaging apparatus includes: an optical filter that cuts light in the specific wavelength range; and a filter driving unit that can attach and detach the optical filter on an optical path from the subject to the imaging element. It has more.
- the depth estimation imaging apparatus is continuously twice in a first state in which the optical filter is inserted on the optical path and in a second state in which the optical filter is off the optical path.
- a control unit for controlling the filter driving unit and the image pickup device.
- the signal processing unit includes: an image generation unit that generates an image based on photoelectric conversion signals output from the plurality of photosensitive cells in the first state; and the plurality of the plurality of signal processing units in the first state. Irradiated with light in the specific wavelength range by a process including a difference calculation between the photoelectric conversion signals output from the photosensitive cells and the photoelectric conversion signals output from the plurality of photosensitive cells in the second state.
- a depth information generation unit configured to generate information indicating the depth of the one point of the subject by detecting an area of the imaging surface;
- the light in the specific wavelength range is infrared light.
- the lower limit of the specific wavelength range is longer than 650 nm.
- An imaging device includes a photosensitive cell array in which a plurality of photosensitive cells are two-dimensionally arranged, and a translucent member disposed to face the photosensitive cell array.
- the translucent member has a first mirror that reflects at least a portion of light inside, and a second mirror that has the same reflection characteristics as the first mirror on the top surface.
- the reflective surface of the first mirror is inclined with respect to the upper surface of the translucent member, and the reflective surface of the second mirror is parallel to the upper surface.
- a light beam incident from one point of a subject is reflected by the first mirror, and further reflected by the second mirror to be a partial region of the photosensitive cell array.
- the region to be irradiated is arranged differently according to the depth of the one point of the subject.
- a depth estimation imaging apparatus includes an imaging device in which a plurality of photosensitive cells are arranged on an imaging surface, an optical lens arranged to be condensed on the imaging surface, and the imaging surface.
- a translucent member having a light beam splitting region that divides a light beam in a specific wavelength region incident from a part of a subject through the optical lens into at least three light beams, and A signal processing unit that processes a photoelectric conversion signal output from the photosensitive cell.
- the light beam splitting region is composed of at least three partial regions including a first partial region, a second partial region, and a third partial region whose upper surfaces are located on the same plane.
- the reflective surfaces of the first and second mirrors are inclined with respect to the upper surface of the light beam splitting region, and the reflective surface of the third mirror is parallel to the upper surface.
- the first mirror, the second mirror, and the third mirror are at least one of the light beams in the specific wavelength region incident on the first partial region from the part of the subject through the optical lens.
- Light sensing The amount of received light detected by the first photosensitive cell group, the second photosensitive cell group, and the third photosensitive cell group by irradiating the third photosensitive cell group included in the cell.
- the distributions are different from each other and are arranged so as to differ according to the depth of the part of the subject.
- the signal processing unit generates information indicating the depth of the part of the subject based on photoelectric conversion signals output from the first to third photosensitive cell groups. have.
- the depth information generation unit includes a peak value or received light amount distribution of light reception detected by each of the first to third light sensing cell groups prepared in advance, and the part of the subject.
- the information indicating the depth is generated by referring to the information that defines the correspondence relationship with the depth.
- the light beam splitting region is configured by the first partial region, the second partial region, the third partial region, and the fourth partial region that have the same shape and size, and the first partial region,
- the three mirrors are arranged in the same pattern on the upper surfaces of the third and fourth partial regions.
- the first to fourth partial regions are arranged in two rows and two columns when viewed from a direction perpendicular to the upper surface of the light beam splitting region.
- the first partial region is located in the first row and the second column
- the second partial region is located in the second row and the first column
- the third partial region is in the first row and the first column.
- the fourth partial region is located in the second row and the second column.
- the third mirror has a circular or ring-shaped opening on the upper surface of each partial region.
- the third mirror has a ring-shaped first opening on the upper surface of the first partial region, and the first mirror has the first opening on the upper surface of the second partial region.
- the first mirror is disposed so as to reflect a light beam incident through the first opening and to face a portion of the third mirror surrounded by the first opening.
- the second mirror is disposed so as to reflect the light beam incident through the second opening and to direct toward the portion of the third mirror surrounded by the second opening.
- the specific wavelength range is a wavelength range of infrared light.
- the lower limit of the specific wavelength range is longer than 650 nm.
- the first to third mirrors have a characteristic of transmitting visible light other than the specific wavelength range.
- the translucent member has a plurality of light beam splitting regions having the same structure including the light beam splitting region.
- the depth estimation imaging apparatus further includes an optical filter that cuts off the light in the specific wavelength range, and a filter driving unit that can attach and detach the optical filter on the optical path.
- the depth estimation imaging apparatus continuously captures two images in a first state in which the optical filter is inserted on the optical path and a second state in which the optical filter is off the optical path.
- a control unit for controlling the filter driving unit and the image sensor.
- the signal processing unit includes: an image generation unit that generates an image based on photoelectric conversion signals output from the plurality of photosensitive cells in the first state; and the plurality of the plurality of signal processing units in the first state.
- a depth information generation unit for generating the depth information.
- An imaging device includes a photosensitive cell array in which a plurality of photosensitive cells are two-dimensionally arranged, and a translucent member disposed to face the photosensitive cell array.
- a translucent member having a light beam splitting region that divides a light beam in a specific wavelength region incident from a part of the light beam into at least three light beams.
- the light beam splitting region is composed of at least three partial regions including a first partial region, a second partial region, and a third partial region whose upper surfaces are located on the same plane.
- the reflective surfaces of the first and second mirrors are inclined with respect to the upper surface of the light beam splitting region, and the reflective surface of the third mirror is parallel to the upper surface.
- the first mirror, the second mirror, and the third mirror may be configured such that at least a part of the light beam in the specific wavelength region that has entered the first partial region from the part of the subject is the The first photosensitive cell group reflected from the first mirror and further reflected from the third mirror to irradiate the first photosensitive cell group included in the plurality of photosensitive cells, and the second part from the part of the subject. Second light sensing included in the plurality of light sensing cells is reflected by the second mirror, and further reflected by the third mirror and incident on the region.
- the received light amount distributions detected by the intelligent cell group, the second photosensitive cell group, and the third photosensitive cell group are different from each other and arranged to be different according to the depth of the part of the subject. Has been.
- Imaging device the depth estimation imaging device (hereinafter simply referred to as “imaging device”) according to the first embodiment will be described. Before describing the details of the present embodiment, first, the basic concept of the present embodiment will be briefly described.
- the image pickup apparatus includes an image pickup element in which a plurality of photosensitive cells are arranged on the image pickup surface, an optical lens arranged so as to collect light on the image pickup surface of the image pickup element, and a transparent member arranged on the image pickup surface.
- the optical member includes a signal processing unit that processes signals output from the plurality of photosensitive cells.
- the translucent member has a first mirror and a second mirror, respectively, inside and on its upper surface.
- the “upper surface” refers to the surface of the translucent member on the side opposite to the side on which the imaging element is present.
- the first mirror and the second mirror are designed to reflect a portion of the incident light.
- the first mirror is provided inside the translucent member, and the reflection surface thereof is inclined with respect to the upper surface of the translucent member.
- the second mirror is disposed on the translucent member so that the reflection surface thereof is parallel to the upper surface of the translucent member.
- the imaging apparatus When light from one point of the subject enters the imaging apparatus configured as described above, part of the light transmitted through the optical lens is first reflected by the first mirror, further reflected by the second mirror, and A part of the imaging surface is irradiated.
- the irradiated region depends on the depth of one point of the subject, that is, the distance from the imaging device. This is because when the depth is different, the incident angle of the light incident on the translucent member is different, and as a result, the traveling directions of the light reflected by the first and second mirrors are different.
- the light component reflected and incident by the first and second mirrors is extracted from the light incident on the imaging surface of the image sensor and photoelectrically converted, and irradiated by the light of the component.
- the shape and size of the selected area are detected.
- information indicating the depth of the subject can be obtained. Specific processing for generating depth information will be described later.
- the imaging apparatus itself includes an image processing unit, and generates information (depth information) indicating the depth of the subject.
- depth information information indicating the depth of the subject.
- the photoelectric conversion signal acquired by imaging hereinafter, also referred to as “pixel signal”
- pixel signal may be sent to another apparatus, so that the other It is possible for the device to generate depth information.
- such an imaging apparatus that does not generate depth information itself but provides information for generating depth information is also referred to as a “depth estimation imaging apparatus”.
- FIG. 1 is a block diagram illustrating the overall configuration of the imaging apparatus according to the present embodiment.
- the imaging apparatus according to the present embodiment is a digital electronic camera, and includes an imaging unit 100 and a signal processing unit 200 that generates a signal (image signal) indicating an image based on a signal generated by the imaging unit 100. ing.
- the imaging device may have a function of generating not only a still image but also a moving image.
- the imaging unit 100 reflects a solid-state imaging device 2 (hereinafter simply referred to as “imaging device”) including a photosensitive cell array composed of a plurality of photosensitive cells arranged on an imaging surface, and reflects infrared light.
- imaging device a solid-state imaging device 2
- a filter driving unit 4 a for taking in and out the infrared cut filter 4 between the optical lens 3 and the translucent plate 1 is provided.
- the translucent plate 1 is mounted on the imaging surface of the image sensor 2. In this embodiment, the translucent plate 1 functions as the translucent member.
- the imaging unit 100 also generates a basic signal for driving the imaging device 2, receives an output signal from the imaging device 2, and sends the signal to the signal processing unit 200.
- Signal generation / reception And an element driving unit 6 that drives the image sensor 2 based on the basic signal generated by the unit 5.
- the image sensor 2 is typically a CCD or CMOS sensor, and is manufactured by a known semiconductor manufacturing technique.
- the signal generation / reception unit 5 and the element driving unit 6 are composed of an LSI such as a CCD driver, for example. Note that the position where the filter driving unit 4a inserts the infrared cut filter 4 is not necessarily between the optical lens 3 and the light transmitting plate 1, but at any position on the optical path from the subject to the image sensor 2. What is necessary is just to be comprised so that the infrared cut filter 4 may be driven so that attachment or detachment is possible.
- the signal processing unit 200 processes the signal output from the image capturing unit 100 to generate a normal image with no reduction in resolution and depth information of the subject, and various data used for generating the image signal.
- a memory 30 for storage and an interface (IF) unit 8 for transmitting the generated image signal and depth information to the outside are provided.
- the image processing unit 7 includes an image generation unit 7a that generates a normal image and a depth information generation unit 7b that generates depth information.
- the image processing unit 7 can be suitably realized by a combination of hardware such as a known digital signal processor (DSP) and software that executes image processing including image signal generation processing.
- the memory 30 is configured by a DRAM or the like.
- the memory 30 records the signal obtained from the imaging unit 100 and temporarily records the image data generated by the image processing unit 7 and the compressed image data. These image data are sent to a recording medium (not shown) or a display unit via the interface unit 8.
- the imaging apparatus of the present embodiment may include known components such as an electronic shutter, a viewfinder, a power source (battery), and a flashlight, but a description thereof is omitted because it is not particularly necessary for understanding the present invention.
- said structure is an example and in this embodiment, components other than the light transmission board 1, the image pick-up element 2, and the image process part 7 can be used combining a well-known element suitably.
- the imaging surface of the imaging device 10 is an “xy plane”, and the “x axis” is the horizontal direction on the imaging surface, the “y axis” is the vertical direction on the imaging surface, and the “z axis” is the direction perpendicular to the imaging surface.
- horizontal direction and vertical direction mean directions on the imaging surface corresponding to the horizontal direction and vertical direction of the generated image, respectively.
- FIG. 2 is a diagram schematically showing the arrangement relationship of the lens 3, the infrared cut filter 4, the translucent plate 1, and the imaging device 2 in the imaging unit 100.
- the infrared cut filter 4 is shifted in the x direction by the filter driving unit 4a.
- the filter driving unit 4a When the infrared cut filter 4 enters the region on the translucent plate 1, the infrared light component of the light incident on the image sensor 2 is removed.
- the infrared cut filter 4 comes out of the region on the light transmitting plate 1 of the optical system, the infrared light component contained in the incident light is not removed and enters the image pickup surface of the image pickup device 2 as it is.
- the imaging apparatus generates a normal image from pixel signals acquired in a state where the infrared cut filter 4 is placed in a region on the translucent plate 1.
- a mode for performing this operation is referred to as a “normal photographing mode”.
- the imaging apparatus calculates the depth of the subject from the pixel signal acquired in a state where the infrared cut filter is protruded from the region on the translucent plate 1.
- a mode for performing this operation is referred to as a “depth estimation mode”.
- the lens 3 may be a lens unit composed of a plurality of lens groups, but is illustrated as a single lens in FIG. 2 for simplicity.
- the lens 3 is a known lens, and collects incident light and forms an image on the imaging surface of the imaging device 2 regardless of the presence or absence of the infrared cut filter 4. 2 is merely an example, and the present invention is not limited to such an example.
- the arrangement relationship between the lens 3, the infrared cut filter 4, and the filter driving unit 4a may be switched.
- the infrared cut filter 4 is put in and out in the x direction.
- the direction is arbitrary as long as the infrared light component of the incident light can be shielded. That is, the movable direction of the infrared cut filter 4 may be the y direction, or a direction different from the x direction and the y direction.
- FIG. 3A is a plan view of the translucent plate 1. Most of the surface of the translucent plate 1 is covered with the infrared reflection mirror 1b and has a circular portion (hereinafter referred to as “infrared reflection opening”) that is not partially covered with the infrared reflection mirror 1b. .
- the translucent plate 1 is made of a transparent glass material and is mounted on the light sensing portion of the image sensor 2.
- the translucent plate 1 is not limited to glass, and may be formed of any material as long as it is a translucent member.
- FIG. 3B is a cross-sectional view taken along the line A-A ′ in FIG. 3A.
- the translucent plate 1 has a ring-shaped infrared reflection mirror 1a having a reflective surface inclined inside. Since the infrared reflecting mirror 1a has a ring shape, there is no portion that reflects infrared light at the center thereof, and the light that passes through the center enters the photosensitive cell 10 of the image sensor 2 as it is.
- the infrared reflection mirrors 1a and 1b function as the first and second mirrors, respectively.
- Both the infrared reflection mirrors 1a and 1b have a characteristic of mainly reflecting infrared light and transmitting visible light in other wavelength ranges.
- infrared light refers to electromagnetic waves having a wavelength longer than 650 nm, for example.
- the translucent plate 1 including the infrared reflecting mirrors 1a and 1b shown in FIG. 3B can be manufactured by performing deposition and patterning of a thin film by known lithography and etching techniques. For example, first, a plurality of frustoconical protrusions are formed on a transparent substrate. Next, a dielectric multilayer film in which the refractive index and film thickness of each layer are designed so as to reflect only infrared light and transmit other visible light is deposited. By removing unnecessary portions of the deposited multilayer film by etching, the infrared reflection mirror 1a is formed. Further, a transparent layer is deposited thereon and shaped so that the upper surface is flat.
- the light-transmitting plate 1 can be produced.
- the produced translucent plate 1 may be bonded to the imaging surface of the imaging device 2 and integrated with the imaging device 2. Therefore, the imaging device provided with the light-transmitting plate 1 in the present embodiment may be manufactured, sold, etc. independently.
- FIG. 4 shows a part of a photosensitive cell array composed of a plurality of photosensitive cells 10 arranged in a matrix in the imaging unit of the imaging device 2.
- Each photosensitive cell 10 typically has a photodiode, and outputs a photoelectric conversion signal corresponding to the amount of received light by photoelectric conversion.
- the depth estimation mode light incident on the image pickup device during exposure is imaged on the image pickup surface of the image pickup device 2 through the lens 3 and the light transmitting plate 1 and is photoelectrically converted by each light sensing cell 10.
- the incident light is affected by the infrared reflecting mirrors 1a and 1b formed on the surface or inside of the light transmitting plate 1 as described below.
- the photoelectric conversion signal output by each photosensitive cell 10 is sent to the signal processing unit 200 via the signal generation / reception unit 5.
- the image processing unit 7 in the signal processing unit 200 generates an image based on the transmitted signal in the normal photographing mode. As a result, a normal image with no reduction in resolution can be obtained.
- the image processing unit 7 calculates depth information by the following process. Note that normal image generation is performed by the image generation unit 7 a in the image processing unit 7, and depth information generation is performed by the depth information generation unit 7 b in the image processing unit 7.
- the imaging apparatus captures one image in the normal shooting mode.
- incident light directly enters the translucent plate 1 through the lens 3, but most of the infrared light component of the incident light is reflected by the infrared reflecting mirror 1b.
- the infrared light component incident on the infrared reflection opening of the translucent plate 1 is directly incident on the photosensitive cell 10, or reflected by the infrared reflection mirror 1a, and further reflected by the infrared reflection mirror 1b.
- an infrared reflection opening is provided at a rate of about one for every 20 pixels in both the x and y directions.
- one pixel refers to a region where one photosensitive cell is arranged.
- the thickness of the translucent plate 1 and the shape and position of the infrared reflection mirror 1a are designed so that the infrared light reflected by the infrared reflection mirrors 1a and 1b enters the range of 20 pixels. . Due to such an optical structure in the infrared reflection opening, there are many infrared light components just below the center, and the infrared light components also increase in the peripheral part due to reflection by the infrared reflection mirrors 1a and 1b.
- the distance from the imaging device to the subject can be estimated by examining the radius of the annular image due to the infrared light component that appears around the infrared reflection aperture.
- FIG. 5A the light beam (solid line) from the point 50 a on the subject 50 and the light beam (broken line) from the point 50 b located farther from the imaging device than the point 50 a are converged by the optical lens 3 and incident on the image sensor 2.
- FIG. 5A the components other than the optical lens 3 and the image sensor 2 are omitted from the components of the imaging device.
- FIG. 5B is a partially enlarged view of the vicinity of the imaging surface of the imaging device 2 in FIG. 5A.
- the light ray (solid line) incident from the point 50a is focused at the position of the imaging surface on which the photosensitive cells 10 are arranged.
- the light ray (broken line) incident from the point 50b is focused at a position closer to the subject than the position where the light sensing cell 10 and the translucent plate 1 are provided. For this reason, the way the infrared light is reflected by the infrared reflecting mirrors 1a and 1b is different between the two.
- the focusing state of the light incident on the translucent plate 1 and the way it is reflected by the infrared reflecting mirrors 1a and 1b differ depending on the depth of the subject.
- FIG. 5C is a conceptual diagram showing in more detail that the focusing state of light incident on the light transmitting plate 1 from one point of the subject and how it is reflected by the infrared reflecting mirrors 1a and 1b differ depending on the depth of the point of the subject. is there.
- the light beam path when the incident light is narrowed down by the lens 3 and the imaging center is closer to the image sensor 2 side than the surface of the translucent plate 1 is indicated by a dotted line. In this case, the ray travels from x1 to x2. Further, in FIG.
- the light beam path when the imaging center of the incident light is on the translucent plate 1 and the incident light can be considered to be incident substantially perpendicular to the upper surface of the translucent plate 1 is indicated by a dashed line. .
- the ray travels from y1 to y2.
- the light beam path when the imaging center of the incident light is on the subject side with respect to the light transmitting plate 1 is indicated by a two-dot chain line. In this case, the ray travels from z1 to z2.
- the radius of the ring-shaped image by the infrared reflecting mirrors 1a and 1b varies depending on the imaging state of the incident light.
- the depth of the subject can be obtained using the correspondence relationship.
- Information defining such a correspondence relationship can be stored in a recording medium such as the memory 30 in advance.
- the depth information generation unit 7b detects a ring-shaped image from the image obtained by imaging, and measures the radius thereof, so that the information from the imaging device to the subject is based on the measured radius and the information indicating the correspondence relationship. The distance can be calculated.
- the imaging device first captures one image and stores it in the memory 30. This image is referred to as IMGa. However, the image IMGb captured in the normal shooting mode immediately before entering the mode is also stored in the memory 30 in advance.
- the image processing unit 7 performs inter-frame difference processing between the image IMGa and the image IMGb.
- the imaging device 2 receives visible light and infrared light in a region facing the infrared reflection opening and its peripheral region, and receives only visible light in other regions. .
- the image sensor 2 receives only visible light over the entire light receiving area.
- the image IMGi by the infrared light incident from the infrared reflection opening can be detected by the inter-frame difference processing.
- the image IMGi has high brightness just below the center of the infrared reflection opening, and a ring-shaped image appears around the center of the infrared reflection opening.
- the depth information generation unit 7b in the image processing unit 7 detects a ring-shaped image and measures its radius, and creates a database that defines the relationship between the radius of the ring-shaped image created in advance and the distance from the imaging device to the subject. Referring to the distance to the subject.
- the depth information generation unit 7b in the image processing unit 7 sends the position on the image IMGb corresponding to the position of each infrared reflection opening and the calculated depth information together with the image IMGb via the interface unit 8. Output.
- the depth information generation unit 7b may generate and output a depth image obtained by imaging the distribution by obtaining the distribution of the depth of each point of the subject.
- the imaging device performs imaging in the normal imaging mode, and generates a visible light image IMGb (step S61).
- imaging is performed in the depth estimation mode, and a visible / infrared light image IMGa is generated (step S62).
- the depth information generation unit 7b generates an infrared light image IMGi by performing an inter-frame difference calculation process between IMGa and IMGb (step S63).
- the ring-shaped pattern is detected in IMGi and the radius of each ring-shaped pattern is measured (step S64).
- the distance to the subject is obtained from the measured radius with reference to a database that defines a relationship between the radius and the subject distance prepared in advance (step S65).
- the distance information of the subject is output (S66).
- the first state in which the infrared cut filter 4 is inserted on the optical path (normal photographing mode) and the second state in which the infrared cut filter 4 is removed from the optical path thus, two consecutive imaging operations are performed.
- This two-continuous imaging is realized by controlling the operations of the filter driving unit 4a and the element driving unit 6 by the signal generating / receiving unit 5 shown in FIG.
- the imaging apparatus according to the present embodiment is characterized in that infrared light is used for calculation of depth information and visible light is used for normal image acquisition.
- the depth information up to the subject can be calculated based on the detected shape and information defining the correspondence between the shape and the depth obtained in advance. Since the depth information amount is determined by the number of infrared reflection openings, the depth information increases as the number of infrared reflection openings increases, and the depth information decreases as the number decreases. In addition, the present embodiment has an effect that a normal image having no resolution reduction can be obtained together with depth information.
- the present invention is not limited to such a configuration. Any configuration may be used as long as the light reflected by the infrared reflecting mirrors 1a and 1b is incident on the photosensitive cell group within a limited range.
- the infrared reflection mirror 1b may be arranged in a limited region.
- regions where the infrared reflection mirrors 1 a and 1 b are not provided may be transparent to infrared light or may have a light shielding property.
- the infrared reflection opening is provided at a rate of about 20 pixels, but this is merely an example of a design value.
- the infrared cut filter 4 is removed from the imaging optical system, and one image is taken in advance, but instead of the infrared cut filter 4, an infrared transmission filter that transmits only infrared light is taken. You may insert in an optical system. In that case, since the image IMGi is obtained directly, no prior image capturing or inter-frame difference processing is required. In this case, one or both of the infrared reflecting mirrors 1a and 1b need only have a property of reflecting infrared light, and may not have light transmittance.
- the light transmissive plate 1 shown in FIGS. 8A and 8B may be used in addition to the configuration of the above embodiment.
- 8A is a plan view of the light-transmitting plate 1
- FIG. 8B is a cross-sectional view taken along line B-B ′ in FIG. 8A.
- the entire infrared reflection opening is covered with the infrared reflection mirror 1a, and the shape of the infrared reflection mirror 1a is an umbrella shape. Even in such a shape, since a ring-shaped image is obtained by the reflected light of the infrared reflecting mirrors 1a and 1b, depth information can be calculated by the same processing.
- a light-transmitting plate 1 having a cross-sectional structure shown in FIG. 9 or 10 may be used.
- the infrared cut filter 4 is always inserted into the imaging optical system, the half mirror 1c is used, and the reflected light of the half mirror 1c is transmitted at the interface 1d between the translucent plate 1 and the external air layer. The light is totally reflected and is incident on the photosensitive cell 10. Since the portion of the light reflected by the half mirror 1c and incident on the photosensitive cell 10 has high brightness, depth information can be calculated by detecting that portion. However, in this case, since the image is an image affected by the half mirror 1c, the image is blurred.
- the half mirror 1c corresponds to the first mirror
- the interface 1d between the light transmitting plate 1 and the air layer corresponds to the second mirror.
- the “mirror” in this specification does not necessarily need to be an optical system that transmits light in a specific wavelength range.
- the inclined state of the infrared reflection mirror 1a is changed so that the reflected light of the infrared reflection mirrors 1a and 1b is condensed immediately below the infrared reflection mirror 1b.
- the annular image appears inside the infrared reflection mirror 1a, but the depth information of the subject can be calculated by performing the same processing as described above.
- an optical member that reflects light in other wavelength ranges may be used instead of the infrared reflecting mirrors 1a and 1b that reflect infrared light.
- an optical filter that cuts light in the wavelength region is used instead of the infrared cut filter 4
- depth information can be obtained by the same processing.
- the infrared reflecting mirror 1a when the infrared reflecting mirror 1a is projected onto a plane parallel to the upper surface of the light transmissive plate 1, a circular or ring shape is formed, but such a shape is not necessarily required.
- the shape of the infrared reflection mirror 1a may be, for example, an inclined flat plate shape or a stripe shape.
- the infrared reflecting mirrors 1a and 1b when projected onto a plane parallel to the upper surface of the light transmitting plate 1, the infrared reflecting mirror 1b does not need to be positioned so as to surround the infrared reflecting mirror 1a. Any arrangement may be used as long as reflection of light by both occurs.
- the depth of the subject is obtained by detecting the radius of the area on the imaging surface irradiated by the light flux reflected by the two mirrors, but it is not necessarily based on the radius of the area.
- the depth may be obtained based on the area and the number of photosensitive cells instead of the radius.
- the translucent plate 1 is configured so that the shape of the region or the distribution of the amount of received light correlates with the depth, if the correspondence between the shape and the depth is examined in advance, the size of the region is not It is also possible to obtain the depth based on the distribution of the shape and the amount of received light.
- the region irradiated with the light flux from one point of the subject can be evaluated by the intensity of the photoelectric conversion signals output from the plurality of photosensitive cells.
- the shape and size of the irradiation region can be detected by the distribution of photosensitive cells that output photoelectric conversion signals having a certain intensity or higher.
- the received light amount distribution in the irradiation region can be obtained from the signal intensity distribution.
- the image processing unit 7 incorporated in the imaging apparatus performs image processing.
- another apparatus independent of the imaging apparatus may execute the image processing.
- a signal that is acquired by the imaging device having the imaging unit 100 in each of the above embodiments is input to another device (image processing device), and a program that defines the signal calculation processing is incorporated in the image processing device.
- image processing device image processing device
- a program that defines the signal calculation processing is incorporated in the image processing device.
- the imaging apparatus may not include an image processing unit.
- the image pickup apparatus includes an image pickup element in which a plurality of photosensitive cells are arranged on the image pickup surface, an optical lens arranged so as to collect light on the image pickup surface of the image pickup element, and a transparent member arranged on the image pickup surface.
- the optical member includes a signal processing unit that processes signals output from the plurality of photosensitive cells.
- the translucent member has a light beam splitting region that divides a light beam in a specific wavelength range incident from a part of a subject through an optical lens into at least three light beams.
- the beam splitting region is composed of at least three partial regions including a first partial region, a second partial region, and a third partial region.
- the light beam splitting region has a first mirror and a second mirror inside thereof, and a third mirror on the upper surface thereof.
- the “upper surface” refers to the surface on the opposite side of the surface of the translucent member from the side on which the image sensor is present.
- the first to third mirrors have the same reflection characteristics and are designed to reflect light in a specific wavelength range.
- the “specific wavelength range” is, for example, a wavelength range of infrared light whose lower limit is longer than 650 nm, but may be a wavelength range of visible light.
- the first mirror is provided in the first partial area
- the second mirror is provided in the second partial area.
- the reflection surfaces of the first and second mirrors are inclined with respect to the upper surface of the light beam splitting region.
- the reflecting surface of the third mirror is parallel to the upper surface of the light beam splitting region.
- the light beam in the specific wavelength region that has entered the light beam splitting region of the imaging apparatus configured as described above from a part of the subject through the optical lens follows the following path. At least a part of the light beam incident on the first partial region of the light beam splitting region is first reflected by the first internal mirror and then reflected by the third mirror on the upper surface to irradiate the first photosensitive cell group. To do. At least a part of the light beam incident on the second partial region of the light beam splitting region is first reflected by the internal second mirror and further reflected by the third mirror on the upper surface to irradiate the second photosensitive cell group. To do.
- the first to third photosensitive cell groups are typically a plurality of photosensitive cells located in regions on the imaging surface that respectively oppose the first to third partial regions. In order to prevent photoelectric conversion signals from overlapping, it is preferable that the first to third photosensitive cell groups do not overlap each other.
- the first to third mirrors are arranged so that the received light amount distributions detected by the first to third photosensitive cell groups are different from each other. That is, as a result of the light beams incident on one light beam splitting region through the optical lens from the same subject point being subjected to different reflection effects in the first partial region, the second partial region, and the third partial region, The spatial distribution of the amount of light changes. This appears as a result that the number of cells, the shape of the irradiation area, the peak value of the output, the average value of the output, the dispersion of the output, and the like are different for the first to third photosensitive cell groups, for example.
- the received light amount distribution detected by each photosensitive cell group changes according to the depth of a part of the subject. This is because if the depth of the part of the subject is different, the incident angle of the light incident on the light beam splitting region is different, and as a result, the traveling direction of the light reflected by each reflection mirror is different. This means that there is a correlation between the received light amount distribution detected by each photosensitive cell group and the depth.
- the component by extracting the component of the light reflected and incident by the first to third mirrors from the light incident on the imaging surface of the image sensor and photoelectrically converted, the component is irradiated with the light of the component.
- the received light amount distribution, the peak value, etc. of each of the detected photosensitive cell groups are detected.
- information depth information indicating the depth of the subject can be obtained. Specific processing for generating depth information will be described later.
- the imaging apparatus itself includes an image processing unit, and generates information (depth information) indicating the depth of the subject.
- depth information information indicating the depth of the subject.
- the other apparatus can generate depth information by sending a photoelectric conversion signal acquired by imaging to the other apparatus.
- an imaging apparatus that does not generate depth information itself but provides information for generating depth information is also referred to as a “depth estimation imaging apparatus”.
- the overall configuration of the imaging apparatus in the present embodiment is the same as the configuration shown in FIG.
- the configuration of the translucent plate 1 and the processing by the image processing unit 7 are different from those in the first embodiment.
- the description will focus on the differences from the first embodiment, and description of the same matters will be omitted.
- FIG. 11A is a plan view showing a configuration of a part of the translucent plate 1. Most of the surface of the translucent plate 1 is covered with an infrared reflecting mirror 1b, and has a circular or ring shaped infrared reflecting opening that is not partially covered with the infrared reflecting mirror 1b.
- the translucent plate 1 in the present embodiment is a set of a plurality of light beam dividing regions 1u. In the following description, it is assumed that a light beam that can be regarded as being substantially uniform from a part of the subject through the optical lens 3 enters one light beam splitting region 1u.
- the light beam splitting region 1u in this embodiment is designed to divide a light beam in the infrared wavelength region included in the light beam into four partial light beams and irradiate different photosensitive cell groups.
- the translucent plate 1 is made of a transparent glass material and is mounted on a plurality of photosensitive cells of the image sensor 2.
- the translucent plate 1 is not limited to glass, and may be formed of any material as long as it is a translucent member.
- FIG. 11B is a plan view showing one light beam splitting region 1 u of the translucent plate 1.
- the beam splitting region 1u is composed of four partial regions, which are arranged in 2 rows and 2 columns. In FIG. 11B, the four partial regions are shown separated by dotted lines, but in reality, such a boundary does not clearly exist.
- an infrared reflection mirror 1b having a ring-shaped first infrared reflection opening is disposed on the upper surface, and the first partial region 1u-1 is disposed in the first partial region 1u-1.
- An infrared reflection mirror 1a-1 that reflects infrared light that has passed through one infrared reflection opening is disposed.
- an infrared reflection mirror 1b having a ring-shaped second infrared reflection opening of a size different from the above is disposed on the upper surface thereof.
- an infrared reflection mirror 1a-2 for reflecting the infrared light that has passed through the second infrared reflection opening is disposed therein.
- the third partial region 1u-3 located in the first row and first column and the fourth partial region 1u-4 located in the second row and second column have the same pattern.
- an infrared reflection mirror 1b having a circular infrared reflection opening is disposed on the upper surfaces of the third partial region 1u-3 and the fourth partial region 1u-4.
- FIG. 11C is a cross-sectional view taken along line AA ′ in FIG. 11B.
- the right half of the translucent plate 1 is the first partial region 1u-1
- the left half is the third partial region 1u-3.
- a ring-shaped infrared reflecting mirror 1a-1 having a reflecting surface inclined with respect to the upper surface is arranged inside the first partial region 1u-1.
- the infrared reflection filter 1a-1 is designed to have an inclination angle and a depth from the upper surface so that the reflected infrared light is directed toward the infrared reflection mirror 1b surrounded by the first infrared reflection opening. ing.
- the infrared light reflected by the infrared reflecting mirror 1 a-1 is further reflected by the portion of the infrared reflecting mirror 1 b and is incident on a part of the plurality of photosensitive cells 10 of the image sensor 2.
- no reflecting mirror is provided in the third partial region 1u-3. Therefore, the infrared light that has passed through the circular infrared reflection opening in the third partial region 1u-3 irradiates a part of the plurality of photosensitive cells 10 without being reflected thereafter.
- FIG. 11D is a cross-sectional view taken along line BB ′ in FIG. 11B.
- the left half of the translucent plate 1 is the second partial region 1u-2
- the right half is the fourth partial region 1u-4.
- a ring-shaped infrared reflection mirror 1a-2 whose reflection surface is inclined with respect to the upper surface is disposed inside the second partial region 1u-2.
- the infrared reflection filter 1a-2 is designed to have an inclination angle and a depth from the upper surface so that the reflected infrared light is directed toward the infrared reflection mirror 1b surrounded by the second infrared reflection opening. ing.
- the infrared light reflected by the infrared reflecting mirror 1 a-2 is further reflected by the corresponding part of the infrared reflecting mirror 1 b and enters a part of the plurality of photosensitive cells 10 of the image sensor 2.
- no reflecting mirror is provided in the fourth partial region 1u-4. Therefore, the infrared light that has passed through the circular infrared reflection opening in the fourth partial region 1u-4 irradiates a part of the plurality of photosensitive cells 10 without being reflected thereafter.
- the infrared reflection mirrors 1a-1, 1a-2, and 1b function as the first, second, and third mirrors, respectively.
- each of the first to third mirrors may be divided into a plurality of portions.
- Each of the infrared reflection mirrors 1a-1, 1a-2, 1b has a characteristic of mainly reflecting infrared light and transmitting visible light in other wavelength regions.
- infrared light refers to electromagnetic waves having a wavelength longer than 650 nm, for example.
- the translucent plate 1 including the infrared reflecting mirrors 1a-1, 1a-2, and 1b shown in FIGS. 11C and 11D is manufactured by performing thin film deposition and patterning by a known lithography and etching technique. obtain. For example, first, two types of conical concave portions are formed in a predetermined pattern at predetermined positions on the transparent substrate. Next, a dielectric multilayer film in which the refractive index and film thickness of each layer are designed so as to reflect only infrared light and transmit other visible light is deposited. Infrared reflecting mirrors 1a-1 and 1a-2 are formed by removing unnecessary portions of the deposited multilayer film by etching. Further, a transparent layer is deposited thereon and shaped so that the upper surface is flat.
- a dielectric multilayer film having the same reflection / transmission characteristics as the infrared reflection mirrors 1a-1 and 1a-2 is formed except for the region on the infrared reflection mirrors 1a-1 and 1a-2.
- the infrared reflection mirror 1b is formed.
- the infrared cut filter 4 in the normal photographing mode in which the infrared cut filter 4 is inserted in the optical path and photographed, the light incident on the imaging device during exposure is imaged through the lens 3, the infrared cut filter 4, and the translucent plate 1. An image is formed on the imaging surface of the element 2 and is photoelectrically converted by each photosensitive cell 10.
- the incident light since the infrared light component is removed by the infrared cut filter 4, the incident light is applied to the infrared reflecting mirrors 1a-1, 1a-2, 1b provided on the surface or inside of the light transmitting plate 1. It is photoelectrically converted without being affected.
- the infrared cut filter 4 is removed from the optical path and imaged
- the light incident on the imaging device during exposure is imaged on the imaging surface of the imaging device 2 through the lens 3 and the translucent plate 1.
- Photoelectric conversion is performed by each photosensitive cell 10.
- incident light is reflected on the surface or inside of the light-transmitting plate 1 as described below, and the infrared reflection mirrors 1a-1, 1a-2, 1b. The influence by appears.
- the photoelectric conversion signal output by each photosensitive cell 10 is sent to the signal processing unit 200 via the signal generation / reception unit 5.
- the image processing unit 7 in the signal processing unit 200 generates an image based on the transmitted signal in the normal photographing mode. As a result, a normal image with no reduction in resolution can be obtained.
- the image processing unit 7 calculates depth information by the following process. Note that normal image generation is performed by the image generation unit 7 a in the image processing unit 7, and depth information generation is performed by the depth information generation unit 7 b in the image processing unit 7.
- the imaging apparatus captures one image in the normal shooting mode.
- incident light directly enters the light-transmitting plate 1 through the lens 3, but most of the infrared light component of the incident light is reflected by the infrared reflecting mirror 1b.
- the infrared light component incident on the infrared reflection opening of the translucent plate 1 is directly incident on the light sensing cell 10 or reflected by the infrared reflection mirrors 1a-1 and 1a-2, and further the infrared reflection mirror. The light is reflected by 1b and enters the photosensitive cell 10.
- the size of one light beam splitting region that is a basic unit of the light transmitting plate 1 is, for example, about 20 pixels in each of the x and y directions.
- the size of one light beam splitting region is not limited to the above example, and any size may be used as long as infrared light transmitted through each partial region irradiates a plurality of photosensitive cells.
- the thickness of the translucent plate 1 and the shape of the infrared reflecting mirrors 1a-1, 1a-2 are set so that the infrared light reflected by the infrared reflecting mirrors 1a-1, 1a-2, 1b enters the range. And the position is set. Due to such an optical structure in the infrared reflection opening, a large amount of infrared light component is detected immediately below the center.
- the partial regions of the first row and the first column and the second row and the second column of one light beam splitting region have the same structure, and no infrared reflection filter is provided therein.
- the partial region in the first row and the second column and the second row and the first column have infrared reflection filters 1a-1 and 1a-2 inside thereof, and their shapes and arrangements are different.
- the pattern of the first row and the second column has a shorter imaging point than the pattern of the first row and the first column.
- the pattern of the second row and first column has a longer imaging point than the pattern of the first row and first column.
- the distance from them to the subject can be estimated.
- the closer the imaging point is to the photosensitive cell the greater the signal amount. Therefore, the images are output from the first to third photosensitive cell groups respectively facing the first to third partial regions.
- the peak value of the signal amount is different from each other. Further, if the depth of the subject is different, the ratio of the peak values of the signal amounts also changes. Therefore, in the present embodiment, the correspondence between the peak value of the photoelectric conversion signal output from the photosensitive cell group facing each partial region and the distance from the imaging device to the subject is examined in advance by experiments and simulations, Information indicating these relationships is stored in a database.
- Such a database may be stored in a recording medium such as the memory 30.
- the depth information generation unit 7b can observe the three types of imaging states based on the photoelectric conversion signal, and can estimate the depth of the subject according to the correspondence relationship obtained in advance.
- the database includes, for example, “a peak value of a pixel signal from the first photosensitive cell group: a peak value of a pixel signal from the second photosensitive cell group: a peak of a pixel signal from the third photosensitive cell group.
- Information indicating a ratio such as “value: depth”.
- the third partial region 1u-3 and the fourth partial region 1u-4 have the same structure, the light sensing located in the region on the imaging surface facing them. The average value of the cell signal is used.
- FIG. 12 is a conceptual diagram showing that the focusing state of light incident on the first partial region 1u-1 from a part of the subject varies depending on the depth of the part of the subject.
- the light beam path when the incident light is narrowed down by the lens 3 and the imaging center is on the image pickup device 2 side from the light transmitting plate 1 is indicated by a dotted line.
- the ray travels from x1 to x2.
- a light ray path when the imaging center of incident light is on the translucent plate 1 and the incident light can be considered to be incident substantially perpendicular to the upper surface of the translucent plate 1 is indicated by a one-dot chain line.
- the ray travels from y1 to y2.
- a light beam path when the imaging center of the incident light is above the translucent plate 1 is indicated by a two-dot chain line.
- the ray travels from z1 to z2. Since these light beams have different light quantity distributions on the imaging surface of the image sensor 2, the received light quantity distributions detected by the photosensitive cell groups are also different.
- the received light amount distribution of the photosensitive cell group irradiated with the infrared light incident on one partial region through the optical lens 3 from a part of the subject differs depending on the depth of the part of the subject.
- the imaging device first captures one image and stores it in the memory 30. This image is referred to as IMGa. However, the image IMGb captured in the normal shooting mode immediately before entering the mode is also stored in the memory 30 in advance.
- the image processing unit 7 performs inter-frame difference processing between the image IMGa and the image IMGb.
- the imaging device 2 receives visible light and infrared light in a region facing the infrared reflection opening and its peripheral region, and receives only visible light in other regions. .
- the image sensor 2 receives only visible light over the entire light receiving area.
- the depth information generation unit 7b in the image processing unit 7 measures a photoelectric conversion signal immediately below each partial region, and represents a relationship between the peak value of the pixel signal created in advance and the distance from the imaging device to the subject. To the distance to the subject. Further, the depth information generation unit 7b in the image processing unit 7 outputs the position on the image IMGb corresponding to the position of each infrared reflection opening and the calculated depth information together with the image IMGb via the interface unit 8. To do.
- the depth information generation unit 7b may generate and output a depth image obtained by imaging the distribution by obtaining a distribution of the depth of each point of the subject.
- the imaging device performs imaging in the normal imaging mode, and generates a visible light image IMGb (step S131).
- imaging is performed in the depth estimation mode, and a visible / infrared light image IMGa is generated (step S132).
- the depth information generation unit 7b generates an infrared light image IMGi by performing an inter-frame difference calculation process between IMGa and IMGb (step S133).
- the peak value of the signal in IMGi is measured (step S134).
- the distance to the subject is obtained from the measured peak value with reference to a database that defines the relationship between the peak value and the subject distance prepared in advance (step S135).
- the distance information of the subject is output (S136).
- the first state in which the infrared cut filter 4 is inserted on the optical path (normal photographing mode) and the second state in which the infrared cut filter 4 is removed from the optical path thus, two consecutive imaging operations are performed.
- This two-continuous imaging is realized by controlling the operations of the filter driving unit 4a and the element driving unit 6 by the signal generating / receiving unit 5 shown in FIG.
- the imaging apparatus according to the present embodiment is characterized in that infrared light is used for calculation of depth information and visible light is used for normal image acquisition.
- the infrared reflection mirror 1 b On the image pickup surface of the image pickup device 2, most of the upper surface is covered with the infrared reflection mirror 1 b and has a plurality of infrared reflection openings in which the infrared reflection mirrors 1 a-1 and 1 a-2 are arranged.
- the depth information can be calculated based on the received light amount distribution detected by the photosensitive cell group corresponding to each partial region of the light transmitting plate 1. Since the depth information amount is determined by the number of light beam splitting regions 1u, the depth information increases as the number of light beam splitting regions 1u increases.
- the present embodiment has an effect that a normal image having no resolution reduction can be obtained together with depth information.
- the infrared cut filter 4 is removed from the imaging optical system, and one image is captured in advance.
- red that transmits only infrared light instead of the infrared cut filter 4 is used.
- An external transmission filter may be inserted into the imaging optical system.
- the infrared reflection mirrors 1a-1, 1a-2, and 1b need only have the property of reflecting infrared light, and do not have to have optical transparency.
- an optical member that reflects light in other wavelength ranges may be used instead of the infrared cut filter 4.
- an optical filter that cuts light in the wavelength region is used instead of the infrared cut filter 4
- depth information can be obtained by the same processing.
- the infrared reflection mirrors 1a-1 and 1a-2 projected on a plane parallel to the upper surface of the translucent plate 1 have a ring shape, but it is not always necessary to have such a shape. For example, it may be flat. Further, when the infrared reflecting mirrors 1a-1, 1a-2, 1b are projected onto a plane parallel to the upper surface, the infrared reflecting mirror 1b surrounds the infrared reflecting mirrors 1a-1, 1a-2. It is not necessary to be positioned, and any arrangement may be used as long as reflection of light by these occurs.
- the depth information of a part of the subject is obtained based on the ratio of the peak value of the received light amount detected by the photosensitive cell group corresponding to each partial region of the light beam splitting region 1u, but based on other information Depth information may be obtained.
- Depth information may be obtained.
- the depth of each point of the subject may be obtained from the ratio of the radii of each ring-shaped image.
- the received light amount distribution itself detected by each photosensitive cell group may be used.
- the depth may be obtained from the average value or dispersion of the amount of light received detected by each photosensitive cell group. In that case, information defining the correspondence between the received light amount distribution detected by each photosensitive cell group and the depth may be obtained in advance.
- the translucent plate 1 has a plurality of light beam splitting regions 1u arranged in a two-dimensional manner, but the translucent plate 1 has at least one light beam splitting region 1u. That's fine. If one light beam splitting region is provided, the depth of one point of the subject can be obtained. Further, one beam splitting region 1u does not need to have a 2 ⁇ 2 array as shown in FIG. 11B, and may be an arbitrary array. Further, one light beam splitting region 1u does not have to be divided into four partial regions, and may be divided into at least three partial regions.
- the image processing unit 7 incorporated in the imaging apparatus performs image processing.
- another apparatus independent of the imaging apparatus may execute the image processing.
- a signal that is acquired by the imaging device having the imaging unit 100 in each of the above embodiments is input to another device (image processing device), and a program that defines the signal calculation processing is incorporated in the image processing device.
- image processing device image processing device
- a program that defines the signal calculation processing is incorporated in the image processing device.
- the imaging apparatus may not include an image processing unit.
- the imaging apparatus according to the embodiment of the present invention is effective for all cameras using an imaging element.
- it can be used for consumer cameras such as digital cameras and digital video cameras, and industrial solid-state surveillance cameras.
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Abstract
Description
まず、第1の実施形態による奥行き推定撮像装置(以下、単に「撮像装置」と呼ぶ。)を説明する。本実施形態の詳細を説明する前に、まず本実施形態の基本概念を簡単に説明する。
次に、第2の実施形態による撮像装置を説明する。本実施形態の詳細を説明する前に、まず本実施形態の撮像装置の基本概念を簡単に説明する。
1a、1b、1a-1、1a-2 赤外反射ミラー
1c ハーフミラー
1u 光束分割領域
1u-1、1u-2、1u-3、1u-4 部分領域
2 固体撮像素子
3 レンズ
4 赤外カットフィルタ
4a フィルタ駆動部
5 信号発生/受信部
6 素子駆動部
7 画像処理部
7a 画像生成部
7b 奥行き情報生成部
8 インターフェース部
10 光感知セル
30 メモリ
100 撮像部
200 信号処理部
Claims (32)
- 複数の光感知セルが撮像面に配列された撮像素子と、
前記撮像面に集光するように配置された光学レンズと、
前記撮像面上に配置された透光性部材であって、少なくとも一部の光を反射する第1のミラーを内部に有し、前記第1のミラーと同一の反射特性を有する第2のミラーを上面に有する透光性部材と、
前記複数の光感知セルから出力される光電変換信号を処理する信号処理部と、
を備え、
前記第1のミラーの反射面は、前記透光性部材の上面に対して傾斜しており、
前記第2のミラーの反射面は、前記上面に平行であり、
前記第1のミラーおよび前記第2のミラーは、被写体の一点から前記光学レンズを通して入射した光束が、前記第1のミラーで反射され、さらに前記第2のミラーで反射されて前記撮像面の一部の領域を照射することにより、前記被写体の前記一点の奥行きに応じて、照射される前記領域が異なるように配置されている、
奥行き推定撮像装置。 - 前記信号処理部は、前記複数の光感知セルから出力される光電変換信号に基づいて前記光束によって照射された前記領域を検知することにより、前記被写体の前記一点の奥行きを示す情報を生成する奥行き情報生成部をさらに備えている、請求項1に記載の奥行き推定撮像装置。
- 前記奥行き情報生成部は、予め用意された、前記光束によって照射された前記領域のサイズと、前記被写体の前記一点の奥行きとの対応関係を規定する情報を参照することによって前記奥行きを示す情報を生成する、請求項2に記載の奥行き推定撮像装置。
- 前記透光性部材の上面に平行な面に投影された前記第1のミラーの形状は、リング状または円状である、請求項1から3のいずれかに記載の奥行き推定撮像装置。
- 前記透光性部材の上面に平行な面に投影された前記第2のミラーは、前記面に投影された前記第1のミラーを囲むように位置している、請求項1から4のいずれかに記載の奥行き推定撮像装置。
- 前記透光性部材は、前記第1のミラーを含む同一の反射特性、形状、および前記上面に対する傾斜角を有する複数のミラーからなる第1ミラー群を内部に有し、
前記第1ミラー群の各ミラーは、各ミラーによって反射された光束が、前記第2ミラーによってさらに反射され、前記撮像面の互いに異なる領域を照射するように配置されている、
請求項1から5のいずれかに記載の奥行き推定撮像装置。 - 前記透光性部材の上面に平行な面に投影された前記第2のミラーは、前記面に投影された前記第1のミラー群の各ミラーを囲むように位置している、請求項6に記載の奥行き推定撮像装置。
- 前記第1のミラーおよび前記第2のミラーの少なくとも一方は、光透過性を有している、請求項1から7のいずれかに記載の奥行き推定撮像装置。
- 前記第1のミラーおよび前記第2のミラーは、特定の波長域の光を反射させ、その他の波長域の可視光を透過させる特性を有している、請求項1から8のいずれかに記載の奥行き推定撮像装置。
- 前記特定の波長域の光をカットする光学フィルタと、
前記光学フィルタを前記被写体から前記撮像素子までの光路上に着脱することができるフィルタ駆動部と、
をさらに備えている、請求項9に記載の奥行き推定撮像装置。 - 前記光学フィルタが前記光路上に挿入された第1の状態と、前記光学フィルタが前記光路上から外れた第2の状態とで、連続して2回の撮像を行うように、前記フィルタ駆動部および前記撮像素子を制御する制御部をさらに備えている、請求項10に記載の奥行き推定撮像装置。
- 前記信号処理部は、
前記第1の状態において前記複数の光感知セルから出力された光電変換信号に基づいて画像を生成する画像生成部と、
前記第1の状態において前記複数の光感知セルから出力された光電変換信号と、前記第2の状態において前記複数の光感知セルから出力された光電変換信号との差分演算を含む処理によって前記特定の波長域の光によって照射された前記撮像面の領域を検知することにより、前記被写体の前記一点の奥行きを示す情報を生成する奥行き情報生成部と、
を有している、請求項11に記載の奥行き推定撮像装置。 - 前記特定の波長域の光は赤外光である、請求項9から12のいずれかに記載の奥行き推定撮像装置。
- 前記特定の波長域の下限は、650nmよりも長い、請求項9から13のいずれかに記載の奥行き推定撮像装置。
- 複数の光感知セルが2次元的に配列された光感知セルアレイと、
前記光感知セルアレイに対向して配置された透光性部材と、
を備え、
前記透光性部材は、少なくとも一部の光を反射する第1のミラーを内部に有し、前記第1のミラーと同一の反射特性を有する第2のミラーを上面に有し、
前記第1のミラーの反射面は、前記透光性部材の上面に対して傾斜しており、
前記第2のミラーの反射面は、前記上面に平行であり、
前記第1のミラーおよび前記第2のミラーは、被写体の一点から入射した光束が、前記第1のミラーで反射され、さらに前記第2のミラーで反射されて前記光感知セルアレイの一部の領域を照射することにより、前記被写体の前記一点の奥行きに応じて、照射される前記領域が異なるように配置されている、
撮像素子。 - 複数の光感知セルが撮像面に配列された撮像素子と、
前記撮像面に集光するように配置された光学レンズと、
前記撮像面上に配置された透光性部材であって、被写体の一部から前記光学レンズを通して入射した特定の波長域の光束を少なくとも3つの光束に分ける光束分割領域を有する透光性部材と、
前記複数の光感知セルから出力される光電変換信号を処理する信号処理部と、
を備え、
前記光束分割領域は、上面が同一平面上に位置する第1の部分領域、第2の部分領域、および第3の部分領域を含む少なくとも3つの部分領域から構成され、前記第1の部分領域の内部に前記特定の波長域の光を反射させる第1のミラーを有し、前記第2の部分領域の内部に前記第1のミラーと同一の反射特性を有する第2のミラーを有し、各部分領域の上面に前記第1および第2のミラーと同一の反射特性を有する第3のミラーを有し、
前記第1および第2のミラーの反射面は、前記光束分割領域の上面に対して傾斜しており、
前記第3のミラーの反射面は、前記上面と平行であり、
前記第1のミラー、前記第2のミラー、および前記第3のミラーは、
前記被写体の前記一部から前記光学レンズを通して前記第1の部分領域に入射した前記特定の波長域の光束の少なくとも一部が、前記第1のミラーで反射され、さらに前記第3のミラーで反射されて前記複数の光感知セルに含まれる第1の光感知セル群を照射し、
前記被写体の前記一部から前記光学レンズを通して前記第2の部分領域に入射した前記特定の波長域の光束の少なくとも一部が、前記第2のミラーで反射され、さらに前記第3のミラーで反射されて前記複数の光感知セルに含まれる第2の光感知セル群を照射し、
前記被写体の前記一部から前記光学レンズを通して前記第3の部分領域に入射した前記特定の波長域の光束の少なくとも一部が、前記複数の光感知セルに含まれる第3の光感知セル群を照射することにより、
前記第1の光感知セル群、前記第2の光感知セル群、および前記第3の光感知セル群によって検知される受光量分布が、互いに異なり、かつ前記被写体の前記一部の奥行きに応じて異なるように配置されている、
奥行き推定撮像装置。 - 前記信号処理部は、前記第1から第3の光感知セル群から出力される光電変換信号に基づいて、前記被写体の前記一部の奥行きを示す情報を生成する奥行き情報生成部を有している、請求項16に記載の奥行き推定撮像装置。
- 前記奥行き情報生成部は、予め用意された、前記第1から第3の光感知セル群の各々によって検知される受光量のピーク値または受光量分布と、前記被写体の前記一部の奥行きとの対応関係を規定する情報を参照することによって前記奥行きを示す情報を生成する、請求項17に記載の奥行き推定撮像装置。
- 前記光束分割領域は、形状および大きさが互いに等しい前記第1の部分領域、前記第2の部分領域、前記第3の部分領域、および第4の部分領域から構成され、
前記第3のミラーは、前記第3および第4の部分領域の上面に同じパターンで配置されている、
請求項16から18のいずれかに記載の奥行き推定撮像装置。 - 前記光束分割領域の上面に垂直な方向から見たとき、
前記第1から第4の部分領域は、2行2列に配列されている、請求項19に記載の奥行き推定撮像装置。 - 前記第1の部分領域は、1行2列目に位置し、
前記第2の部分領域は、2行1列目に位置し、
前記第3の部分領域は、1行1列目に位置し、
前記第4の部分領域は、2行2列目に位置している、
請求項20に記載の奥行き推定撮像装置。 - 前記第3のミラーは、各部分領域の上面において、円状またはリング状の開口部を有している、請求項16から21のいずれかに記載の奥行き推定撮像装置。
- 前記第3のミラーは、前記第1の部分領域の上面において、リング状の第1の開口部を有し、前記第2の部分領域の上面において、前記第1の開口部とは大きさの異なるリング状の第2の開口部を有し、前記第3の部分領域の上面において、円状の開口部を有している、請求項22に記載の奥行き推定撮像装置。
- 前記第1のミラーは、前記第1の開口部を通して入射した光束を反射し、前記第1の開口部によって囲まれた前記第3のミラーの部分に向けるように配置され、
前記第2のミラーは、前記第2の開口部を通して入射した光束を反射し、前記第2の開口部によって囲まれた前記第3のミラーの部分に向けるように配置されている、
請求項23に記載の奥行き推定撮像装置。 - 前記特定の波長域は、赤外光の波長域である、請求項16から24のいずれかに記載の奥行き推定撮像装置。
- 前記特定の波長域の下限は、650nmよりも長い、請求項16から25のいずれかに記載の奥行き推定撮像装置。
- 前記第1から第3のミラーは、前記特定の波長域以外の可視光を透過させる特性を有している、請求項16から26のいずれかに記載の奥行き推定撮像装置。
- 前記透光性部材は、前記光束分割領域を含む同一構造の複数の光束分割領域を有している、請求項16から27のいずれかに記載の奥行き推定撮像装置。
- 前記特定の波長域の光をカットする光学フィルタと、
前記光学フィルタを光路上に着脱することができるフィルタ駆動部と、
をさらに備えている、請求項16から28のいずれかに記載の奥行き推定撮像装置。 - 前記光学フィルタが光路上に挿入された第1の状態と、前記光学フィルタが光路上から外れた第2の状態とで、連続して2回の撮像を行うように、前記フィルタ駆動部および前記撮像素子を制御する制御部をさらに備えている、請求項29に記載の奥行き推定撮像装置。
- 前記信号処理部は、
前記第1の状態において前記複数の光感知セルから出力された光電変換信号に基づいて画像を生成する画像生成部と、
前記第1の状態において前記複数の光感知セルから出力された光電変換信号と前記第2の状態において前記複数の光感知セルから出力された光電変換信号との差分演算を含む処理によって前記被写体の前記一部の奥行きを示す情報を生成する奥行き情報生成部と、
を有している、
請求項30に記載の奥行き推定撮像装置。 - 複数の光感知セルが2次元的に配列された光感知セルアレイと、
前記光感知セルアレイに対向して配置された透光性部材であって、被写体の一部から入射した特定の波長域の光束を少なくとも3つの光束に分ける光束分割領域を有する透光性部材と、
を備え、
前記光束分割領域は、上面が同一平面上に位置する第1の部分領域、第2の部分領域、および第3の部分領域を含む少なくとも3つの部分領域から構成され、前記第1の部分領域の内部に前記特定の波長域の光を反射させる第1のミラーを有し、前記第2の部分領域の内部に前記第1のミラーと同一の反射特性を有する第2のミラーを有し、各部分領域の上面に前記第1および第2のミラーと同一の反射特性を有する第3のミラーを有し、
前記第1および第2のミラーの反射面は、前記光束分割領域の上面に対して傾斜しており、
前記第3のミラーの反射面は、前記上面と平行であり、
前記第1のミラー、前記第2のミラー、および前記第3のミラーは、
前記被写体の前記一部から前記第1の部分領域に入射した前記特定の波長域の光束の少なくとも一部が、前記第1のミラーで反射され、さらに前記第3のミラーで反射されて前記複数の光感知セルに含まれる第1の光感知セル群を照射し、
前記被写体の前記一部から前記第2の部分領域に入射した前記特定の波長域の光束の少なくとも一部が、前記第2のミラーで反射され、さらに前記第3のミラーで反射されて前記複数の光感知セルに含まれる第2の光感知セル群を照射し、
前記被写体の前記一部から前記第3の部分領域に入射した前記特定の波長域の光束の少なくとも一部が、前記複数の光感知セルに含まれる第3の光感知セル群を照射することにより、
前記第1の光感知セル群、前記第2の光感知セル群、および前記第3の光感知セル群によって検知される受光量分布が、互いに異なり、かつ前記被写体の前記一部の奥行きに応じて異なるように配置されている、
撮像素子。
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CN110470214A (zh) * | 2018-05-09 | 2019-11-19 | 韩华精密机械株式会社 | 组件拾取设备 |
CN110470214B (zh) * | 2018-05-09 | 2023-04-07 | 韩华精密机械株式会社 | 组件拾取设备 |
CN110425983A (zh) * | 2019-07-26 | 2019-11-08 | 杭州电子科技大学 | 一种基于偏振多光谱的单目视觉三维重建测距方法 |
CN110425983B (zh) * | 2019-07-26 | 2021-04-06 | 杭州电子科技大学 | 一种基于偏振多光谱的单目视觉三维重建测距方法 |
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CN103168272B (zh) | 2017-06-09 |
CN103168272A (zh) | 2013-06-19 |
JPWO2013054469A1 (ja) | 2015-03-30 |
JP5923755B2 (ja) | 2016-05-25 |
US9456198B2 (en) | 2016-09-27 |
US20130188026A1 (en) | 2013-07-25 |
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