WO2023276824A1 - 光学系、撮像装置および撮像システム - Google Patents
光学系、撮像装置および撮像システム Download PDFInfo
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- WO2023276824A1 WO2023276824A1 PCT/JP2022/024914 JP2022024914W WO2023276824A1 WO 2023276824 A1 WO2023276824 A1 WO 2023276824A1 JP 2022024914 W JP2022024914 W JP 2022024914W WO 2023276824 A1 WO2023276824 A1 WO 2023276824A1
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- 230000003287 optical effect Effects 0.000 title claims abstract description 179
- 238000003384 imaging method Methods 0.000 title claims description 153
- 238000012545 processing Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 abstract description 31
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- 238000010586 diagram Methods 0.000 description 16
- 238000004088 simulation Methods 0.000 description 7
- 230000008859 change Effects 0.000 description 6
- 238000004364 calculation method Methods 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 3
- 201000009310 astigmatism Diseases 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/06—Panoramic objectives; So-called "sky lenses" including panoramic objectives having reflecting surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/001—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras
- G02B13/0015—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design
- G02B13/002—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design having at least one aspherical surface
- G02B13/0045—Miniaturised objectives for electronic devices, e.g. portable telephones, webcams, PDAs, small digital cameras characterised by the lens design having at least one aspherical surface having five or more lenses
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/04—Reversed telephoto objectives
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B13/00—Optical objectives specially designed for the purposes specified below
- G02B13/18—Optical objectives specially designed for the purposes specified below with lenses having one or more non-spherical faces, e.g. for reducing geometrical aberration
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B9/00—Optical objectives characterised both by the number of the components and their arrangements according to their sign, i.e. + or -
- G02B9/64—Optical objectives characterised both by the number of the components and their arrangements according to their sign, i.e. + or - having more than six components
-
- 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
- G03B15/00—Special procedures for taking photographs; Apparatus therefor
-
- 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
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
-
- 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
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/02—Bodies
-
- 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
- G03B37/00—Panoramic or wide-screen photography; Photographing extended surfaces, e.g. for surveying; Photographing internal surfaces, e.g. of pipe
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
Definitions
- the present invention relates to an optical system suitable for imaging devices such as in-vehicle cameras.
- Some imaging devices using an imaging device are mounted on a moving body such as a car to acquire image data around the moving body. By using the acquired image data, objects such as obstacles around the mobile object can be visually recognized or machine-recognized.
- Such an imaging device is used, for example, as a so-called electronic mirror or digital mirror (hereinafter referred to as an E-mirror) that displays image data acquired by an imaging device arranged on the side of a vehicle on an in-vehicle monitor.
- an E-mirror electronic mirror or digital mirror
- Patent Literature 1 discloses an optical system having a projection characteristic that allows an imaging device arranged on the side of the vehicle body to image a wide range including the rear and the vicinity of the front wheels. Further, Patent Document 2 discloses an optical system having projection characteristics such that the peripheral area is a fish-eye lens and the central area is a telephoto lens.
- the present invention provides an optical system, an imaging device, etc. that can ensure a sufficient angle of view and high resolution in the peripheral area, even though it is a single optical system.
- An optical system as one aspect of the present invention has a plurality of lenses arranged in order from an object side to an image side, and an aperture stop arranged between any two of the plurality of lenses.
- the projection characteristic of the optical system representing the relationship between the half angle of view ⁇ and the image height y on the image plane is y( ⁇ )
- the maximum half angle of view of the optical system is ⁇ max
- the focal length of the optical system is f , 0.20 ⁇ 2ftan( ⁇ max/2)/y( ⁇ max) ⁇ 0.95 It is characterized by satisfying the following conditions.
- An imaging device having the above optical system, an imaging system in which the imaging device is installed in a moving body, and a moving body equipped with the imaging system also constitute another aspect of the present invention.
- FIG. 2 is a cross-sectional view of the optical system of Example 1;
- FIG. 4 is an aberration diagram of the optical system of Example 1 at an imaging distance of ⁇ ;
- FIG. 5 is a cross-sectional view of the optical system of Example 2;
- FIG. 10 is an aberration diagram at imaging distance ⁇ of the optical system of Example 2;
- FIG. 10 is a cross-sectional view of the optical system of Example 3;
- FIG. 10 is an aberration diagram at imaging distance ⁇ of the optical system of Example 3;
- FIG. 5 is a cross-sectional view of the optical system of Example 4;
- FIG. 10 is an aberration diagram at imaging distance ⁇ of the optical system of Example 4;
- FIG. 5 is a diagram showing projection characteristics of the optical systems of Examples 1 to 4;
- FIG. 5 is a diagram showing the resolution with respect to the angle of view of the optical systems of Examples 1 to 4;
- FIG. 10 is a diagram showing a curvature change of an aspherical surface of the optical system of Example 4;
- FIG. 2 is a schematic diagram showing the arrangement of an E-mirror imaging device; The figure which shows arrangement
- FIG. 5 is a diagram showing simulation results of images acquired using the f ⁇ lens and the optical systems of Examples 1 to 4;
- FIG. 3 is a diagram for explaining an imaging element; The figure which shows the simulation result with respect to various parameters.
- the block diagram which shows the structure of an in-vehicle system. 4 is a flowchart showing an operation example of an in-vehicle system;
- the imaging magnification differs between the central area near the optical axis and the peripheral area outside (outside the axis), and a single optical system that realizes a sufficient angle of view and high resolution in the peripheral area. It is an optical system.
- the length of the image height y per unit angle of view (the number of pixels of the imaging device in actual use) is the resolution (mm/deg)
- the relationship of the image height y to the angle of view ⁇ is the projection characteristic y ( ⁇ )
- the angle formed by the most off-axis chief ray with respect to the optical axis of the optical system is defined as the maximum half angle of view.
- a general f ⁇ lens has a constant resolution at each image height, and has projection characteristics in which the image height and the resolution are in a proportional relationship.
- the optical system of each embodiment has a projection characteristic in which the resolution of the peripheral area (second area) is higher than the resolution of the central area (first area). Used.
- FIG. 12(a) shows an E-mirror imaging device that is placed on the side of a vehicle body 700 of an automobile as a moving body and that uses a normal fisheye lens in the optical system.
- the E-mirror is an imaging system that enables confirmation of the following vehicle by imaging the rear a, and confirmation of the relationship between the front wheels and the side road by imaging the lower front b.
- the optical system is a fisheye lens
- the rear a and the lower front b are imaged with the same resolution within the angle of view FA of the imaging device
- the lower rear c is also imaged with the same resolution as the rear a and the lower front b. Since particularly detailed information is not required for the lower rear side c, imaging with the same resolution as for the rear lower side a and the lower front side b in that direction is useless.
- FIG. 12(b) shows an E-mirror imaging device similarly arranged on the side of the vehicle body 700 and using the optical system of each embodiment.
- the optical system of each embodiment has a projection characteristic in which the resolution of the peripheral area FA2 is higher than that of the central area FA1 of the angle of view. It can be imaged so that detailed information can be obtained. In other words, the optical system of each embodiment can take enlarged images of objects in different directions, even though it is a single optical system.
- FIG. 1 shows the configuration of the optical system (imaging distance ⁇ ) of Example 1. Specific numerical values of the optical system of Example 1 are listed in Table 1 as Numerical Column 1.
- the optical system of Example 1 (numerical example 1) has a plurality of (eight) lenses L1 to L8 in order from the object side (enlargement conjugate side) to the image side (reduction conjugate side), and the maximum half angle of view is 90. °. Further, the optical system of Example 1 has an aperture stop ST1 between the lens L4 and the lens L5. Lenses L1 to L4 constitute a front group, and lenses L5 to L8 constitute a rear group.
- a flat plate P1 such as an IR cut filter is arranged between the lens L8 and the image plane.
- An imaging surface of an imaging element 11 such as a CMOS sensor is arranged on the image plane.
- the imaging apparatus generates image data from the output of the imaging device 11 .
- FIG. 9(a) shows the ⁇ -y projection characteristics (relationship between half angle of view ⁇ and image height y) of the optical system of Example 1.
- the optical systems of Example 1 and the other examples have the following formula (1) where ⁇ max is the maximum half angle of view and f is the focal length. satisfy the conditions.
- FIG. 10(a) shows the ⁇ -resolution characteristic of the optical system of Example 1.
- FIG. Here, the ⁇ -resolution characteristics when using an image sensor for full high-definition (1920 ⁇ 1080 pixels) are shown.
- y 2ftan( ⁇ /2)
- optical system of each embodiment preferably satisfies the condition of the following formula (2), where 80 is the angle of view that is 80% of the maximum half angle of view.
- Equation (2) indicates the condition regarding the resolution distribution in the peripheral area of the optical system of each embodiment for the fisheye lens. If the value of formula (2) is below the lower limit, various aberrations such as curvature of field and distortion increase, making it impossible to obtain image data with good image quality, which is not preferable. Further, if the value of expression (2) exceeds the upper limit, the difference in resolution between the central area and the peripheral area becomes small, and the required projection characteristics cannot be realized, which is not preferable.
- FIG. 10(b) shows the ⁇ -resolution characteristics of the optical system of Example 2 having a maximum half angle of view of 60°
- the resolution increases as the angle of view increases.
- Example 2 the difference in resolution between the central region and the peripheral region is increased compared to the optical systems of other examples. In this way, even if the specifications such as the maximum half angle of view, the maximum image height, and Fno change, it is possible to realize an optical system that has a sufficiently large angle of view and the desired projection characteristics described above.
- optical system of each example can have better projection characteristics by satisfying the condition of the following formula (3) when the orthogonal projection is represented by f sin ⁇ .
- ⁇ max preferably satisfies the condition of the following formula (4).
- the optical system of each embodiment has an optical configuration that allows manipulation of distortion and curvature of field in order to achieve desired projection characteristics.
- at least one aspherical surface is arranged on at least one of lens L1 and lens L2 having a high off-axis ray height.
- At least one aspherical surface is arranged on at least one of the lens L7 and the lens L8 on the image side. These aspheric surfaces allow distortion and field curvature to be effectively manipulated.
- FIGS. 11A and 11B show the height h (vertical axis) in the radial direction from the optical axis of the aspherical surfaces (surfaces 3 and 15) provided in the optical system of Example 4 and The relationship with curvature (horizontal axis) is shown.
- Surface 3 is the object-side surface of lens L2
- surface 15 is the object-side aspherical surface of lens L8.
- the object-side aspherical surface has a plurality of points of inflection.
- the curvature is negative up to the point of inflection near 5 mm, and the curvature is positive further on the peripheral side. That is, the three surfaces have a convex shape toward the object side on the paraxial side, gradually change into a concave shape toward the object side, and then change into a convex shape again toward the object side.
- the first lens with negative refractive power, the second lens with negative refractive power, and the second lens with negative refractive power are arranged in order from the object side to the image side. , an aperture stop and a lens of positive refractive power closest to the image side.
- the lens L1 has negative refractive power
- the lens L2 has negative refractive power
- the lens L3 has negative refractive power
- the lens L4 has positive refractive power.
- an aperture stop ST1 is provided between the lens L4 and the lens L5, the lens L5 has positive refractive power, the lens L6 has positive refractive power, the lens L7 has negative refractive power, and the lens L8 has positive refractive power. have power.
- the three lenses from the object side negative lenses, it is possible to bend light rays at peripheral angles of view in stages, thereby suppressing the occurrence of various aberrations such as extra distortion and curvature of field.
- the lens closest to the image a positive lens
- the angle of light rays incident on the image sensor can be relaxed, and a sufficient amount of light can be captured by the image sensor.
- the first lens with negative refractive power, the second lens with negative refractive power, the third lens with negative refractive power, the positive or having a fourth lens of negative refractive power, an aperture stop, a fifth lens of positive refractive power, a sixth lens of negative refractive power, a seventh lens of positive refractive power and an eighth lens of positive refractive power is even more desirable.
- Examples 1 to 4 show typical configuration examples of the present invention, and other configuration examples are also included in the examples of the present invention.
- the projection characteristics and the positions and number of points of inflection of the aspheric surface are not limited to those of the first to fourth embodiments.
- an E-mirror which is an imaging system including an E-mirror imaging device using the optical system of each embodiment, will be described.
- the imaging device is installed on the side of the vehicle body 700 to capture an image of a subject (object) in the rear and vertically downward direction (directly below and below the front side).
- the imaging device has the optical system of each embodiment that forms a subject image, and an imaging device that photoelectrically converts the subject image (captures the subject as an object via the optical system).
- a plurality of pixels arranged two-dimensionally are provided on the imaging surface of the imaging element.
- An imaging surface 11a of the imaging device shown in FIG. 15A includes a first region R1 for imaging an object included in a central region (first angle of view) of the angle of view of the optical system, and a peripheral region (first angle of view). and a second region R2 for imaging an object included in a second angle of view (which is larger than the angle of view of ).
- the optical system has projection characteristics in which the number of pixels per unit angle of view in the second region R2 is greater than the number of pixels per unit angle of view in the first region R1. That is, when the number of pixels per unit angle of view is the resolution, the imaging device is configured so that the resolution of the peripheral area is higher than the resolution of the central area.
- FIG. 14(a) shows a simulation result of image data (captured image) obtained by an E-mirror imaging device using an f ⁇ lens as an optical system.
- FIG. 14(b) shows simulation results of captured images obtained by the E-mirror imaging device using the optical system of each example.
- the upper side shows the rear of the vehicle body
- the right side shows the vicinity of the side of the vehicle body
- the lower right side shows the vicinity of the front wheel
- the left side shows the side of the vehicle body.
- FIG. 14B also shows an enlarged image of the rear portion of the captured image.
- FIG. 14(b) compared to FIG. 14(a), the rear bicycle and the following vehicle are magnified and imaged. Therefore, detailed information on the rear side can be obtained from the captured image, and the visibility as an E-mirror can be improved, and recognition accuracy in automatic recognition can be improved.
- FIG. 13A shows the vehicle body 700 viewed from the front in the longitudinal direction (horizontal direction), which is the moving direction (first direction) of the vehicle body 700 .
- the downward direction in FIG. 13A is the vertical direction (second direction) orthogonal to the front-rear direction, and the left direction is the lateral direction (third direction) orthogonal to the front-rear direction and the vertical direction.
- the imaging device 10 is located at a side portion (a portion facing the third direction) of the vehicle body 700 at a position separated by a distance L laterally (in the third direction) from the vehicle body side surface 710 as shown in FIG. 13(a). is installed in Also, as shown in FIG. 12(b), the imaging device 10 is installed so that the optical axis AX is oriented obliquely downward (on the road surface side) from the rear, that is, downward to the rear side c. Further, in the imaging device 10, when the vehicle body 700 is viewed from the front as shown in FIG. 13(a), the optical axis L1 (AX) faces in a direction forming an angle ⁇ L with respect to the vertical direction (second direction). is installed as follows. Specifically, it is preferable to install so as to satisfy the condition of the following formula (5).
- ⁇ L larger than 0° indicates the inclination angle of the optical axis AX in the direction away from the vehicle body side surface 710 laterally with respect to the vertical direction.
- FIG. 16(a) shows simulation results of captured images when ⁇ L is 90°.
- the lane lines on the road surface are not imaged along the sides of the image pickup surface of the image pickup device, resulting in an image that is difficult for the driver to visually recognize intuitively. Images can be generated.
- FIG. 16B shows simulation results of captured images when ⁇ L is 0°.
- image processing such as distortion correction is not required. Therefore, it is possible to perform high-response imaging capable of providing a captured image with high real-time performance with a simple configuration.
- the side surface of the vehicle body can also be imaged, it is possible to provide a captured image in which the distance between the side surface of the vehicle body and the obstacle can be easily recognized.
- a similar captured image can also be obtained when ⁇ L is greater than 0° and equal to or less than 20°.
- the optical system is arranged with respect to the imaging element so that the optical axis AX is shifted away from the side surface of the vehicle body with respect to the center of the imaging surface 11a (hereinafter referred to as the sensor center) SAX as shown in FIG. 15(b). may be placed. Thereby, as shown in FIG. 16C, it is possible to obtain a captured image with higher visibility.
- FIG. 16(c) shows a captured image when the optical axis AX is shifted with respect to the sensor center SAX in a direction away from the side surface of the vehicle body.
- this captured image compared to the captured image when the optical axis AX and the sensor center SAX shown in FIG. , Objects in a wide range on the side of the vehicle are reflected.
- the shift amount (shift amount) La of the optical axis AX from the sensor center SAX is expressed by the following formula (6), where Ls is the length of the side extending from the sensor center SAX on the imaging surface 11a toward the optical axis AX. It is preferable to satisfy the following conditions.
- the imaging device 10 when the vehicle body 700 moving in the horizontal direction is viewed from the front, the imaging device 10 is installed so that the optical axis L1 of the optical system is parallel to the vertical direction. .
- the imaging device 10 is installed away from the vehicle body side surface 710 . At this time, it is preferable that the shift amount La satisfies the condition of the following formula (7).
- ⁇ is the point at which the optical axis L1 (AX) of the optical system intersects the most object-side surface of the optical system and the optical axis L1 when the vehicle body 700 is viewed from the front as shown in FIG. 13(b). is the angle formed by a straight line L2 connecting the vertical end point (grounding point of the front wheel) of the vehicle body side surface 710 from . Also, y ⁇ is the distance from the intersection of the straight line L2 and the imaging surface to the optical axis L1. Appropriate imaging can be performed even if the imaging device 10 is installed at an arbitrary distance from the side surface of the vehicle body within the range that satisfies the condition of expression (7).
- FIG. 13(c) shows the installation angle of the imaging device 10 with respect to the vehicle body 700.
- ⁇ b be the rearward tilt angle of the imaging device 10 (optical axis L1 of the optical system) with respect to the vertical direction
- ⁇ f be the forward tilt angle.
- the tilt angle ⁇ f is defined by the intersection of the surface closest to the object in the optical system of the imaging device 10 and the optical axis L1 and the end point in the direction of movement of the front wheels of the vehicle body 700 in the peripheral region (second angle of view) of the angle of view. This is the angle formed by the connecting straight line and the optical axis L1. At this time, it is preferable to satisfy the condition of the following formula (8) or (9).
- the optical axis L1 is tilted from the horizontal direction to the vertical direction so as to face the lower rear side or the lower front side.
- Equation (8) can be replaced with Equation (8a) below.
- Lb is the distance between the image position (image point) of the rear subject on the imaging surface and the sensor center SAX, and the image position of the lower front subject on the imaging surface
- Lf be the distance from the sensor center SAX
- Lh be the length of the side extending in the direction in which the two image positions are separated from each other on the imaging plane.
- Lf be the distance
- Lh be the length of the side of the imaging surface extending from the sensor center SAX toward the image point of the front end point.
- Equations (10) and (11) indicate conditions for effectively using the most peripheral region R3 of the imaging surface 11a as shown in FIG. 15(c). If these conditions are not satisfied, it is not possible to capture an image in the high-resolution outermost peripheral region R3, making it difficult to obtain detailed information from the captured image, which is not preferable. In other words, by satisfying at least one of formulas (10) and (11), high-resolution imaging can be performed in the most peripheral region R3. By extracting a high-resolution partial image obtained in the outermost peripheral region R3 and outputting it to a vehicle body monitor (display means) for display, the driver can obtain detailed information behind the vehicle. Note that since the object of interest of a moving object is often the object behind it, it is preferable to satisfy equation (10). Also, Equation (11) can be replaced with Equation (11a) below.
- the imaging system described above is merely an example, and other configurations and arrangements may be adopted.
- the optical axis of an image pickup device installed on the side of a vehicle body is tilted from the front-rear direction (moving direction) to a vertical direction perpendicular to the front-rear direction, thereby picking up images of the rear and front and lower sides.
- the imaging device may be installed in the front or rear part of the vehicle body, and the optical axis may be tilted to the side orthogonal to the front-rear direction to image the front and sides or the rear and sides.
- an imaging system configured in the same manner as the E-mirror may be installed in a moving object other than an automobile, such as an aircraft or ship.
- the lens configuration (A) of Numerical Example 1 corresponding to this embodiment shown in Table 1 shows the focal length f (mm), the aperture ratio (F number) F, and the maximum half angle of view (°) of the optical system.
- ri is the radius of curvature of the i-th surface counted from the object side (mm)
- di is the lens thickness or air gap (mm) between the i-th and (i+1)th surfaces
- ni is the i-th surface and the i-th ( i+1) is the refractive index at the d-line of the optical material between the planes.
- ⁇ i is the Abbe number with respect to the d-line of the optical material between the i-th surface and the (i+1)-th surface.
- ST indicates an aperture stop.
- "*" means that the surface marked with it has an aspherical shape.
- the aspherical shape has z as the coordinate in the direction of the optical axis, y as the coordinate in the direction perpendicular to the optical axis, the light traveling direction as positive, ri as the paraxial radius of curvature, K as the conic constant, and A to G as
- the aspheric coefficient is represented by the following formula.
- (B) aspherical coefficients in Table 1 shows the conic constant K and the aspherical coefficients A to G.
- "E ⁇ -x" means ⁇ 10 -x .
- optical system of this example (numerical example 1) satisfies the conditions of formulas (1) to (4).
- Table 5 summarizes the values for each condition.
- FIG. 2 shows longitudinal aberrations (spherical aberration, astigmatism, and distortion aberration) of the optical system of this example (numerical example 1) at an imaging distance of ⁇ .
- the solid line indicates the spherical aberration for the d-line (wavelength 587.6 nm).
- a solid line S indicates a sagittal image plane
- a dashed line T indicates a meridional image plane.
- the solid line indicates the distortion with respect to the d-line.
- FIG. 9(a) shows the projection characteristics of the optical system of this embodiment
- FIG. 10(a) shows the ⁇ -resolution characteristics of the optical system of this embodiment.
- FIG. 3 shows the configuration of the optical system (imaging distance ⁇ ) of Example 2.
- the optical system of this embodiment comprises a first lens L21 with negative refractive power, a second lens L22 with negative refractive power, a third lens L23 with negative refractive power, and a positive , an aperture stop ST2, a fifth lens L25 with positive refractive power, a sixth lens L26 with negative refractive power, and a seventh lens L27 with positive refractive power.
- P21 is a flat plate such as an IR cut filter
- 21 is an imaging device.
- the maximum half angle of view ⁇ max of the optical system of the present embodiment is 60°, which is different from 90° of the optical system of the first embodiment.
- optical system of this example (numerical example 2) satisfies the conditions of formulas (1) to (4).
- Table 5 summarizes the values for each condition.
- FIG. 4 shows the longitudinal aberration at the imaging distance ⁇ of the optical system of this embodiment (numerical example 2). Further, FIG. 9(b) shows the projection characteristic of the optical system of this embodiment, and FIG. 10(b) shows the .theta.-resolution characteristic of the optical system of this embodiment as described above.
- FIG. 5 shows the configuration of the optical system (imaging distance ⁇ ) of Example 3.
- the optical system of this embodiment comprises a first lens L31 with negative refractive power, a second lens L32 with negative refractive power, a third lens L33 with negative refractive power, and a negative refracting power of fourth lens L34, aperture stop ST3, positive refracting power fifth lens L35, positive refracting power sixth lens L36, negative refracting power seventh lens L37, and positive refracting power eighth lens L37. It is composed of a lens L38.
- P31 and P32 are flat plates such as an IR cut filter, and 31 is an image sensor.
- the optical system of this example has a maximum half angle of view of 90°, which is the same as that of Example 1.
- the maximum image height y ( ⁇ max) is 1.79 mm, which is different from Example 1 (3.64 mm).
- optical system of this example (numerical example 3) satisfies the conditions of formulas (1) to (4).
- Table 5 summarizes the values for each condition.
- FIG. 6 shows the longitudinal aberration at the imaging distance ⁇ of the optical system of this embodiment (numerical example 3). Further, FIG. 9(c) shows the projection characteristics of the optical system of this embodiment, and FIG. 10(c) shows the ⁇ -resolution characteristics of the optical system of this embodiment as described above.
- FIG. 7 shows the configuration of the optical system (imaging distance ⁇ ) of Example 4.
- the optical system of this embodiment comprises a first lens L41 with negative refractive power, a second lens L42 with negative refractive power, a third lens L43 with negative refractive power, and a negative refracting power of fourth lens L44, aperture stop ST4, positive refracting power of fifth lens L45, positive refracting power of sixth lens L46, negative refracting power of seventh lens L47 and positive refracting power of eighth lens L44. It is composed of a lens L48.
- P41 is a flat plate such as an IR cut filter
- 41 is an imaging element.
- the optical system of this example has an F-number of 1.80, which is brighter than Example 1 (2.80), and the formula (1) The condition value is 0.92, which is greater than Example 1 (0.78).
- optical system of this example (numerical example 4) satisfies the conditions of formulas (1) to (4).
- Table 5 summarizes the values for each condition.
- FIG. 8 shows the longitudinal aberration at the imaging distance ⁇ of the optical system of this embodiment (numerical example 4). Further, FIG. 9(c) shows the projection characteristics of the optical system of this embodiment, and FIG. 10(c) shows the ⁇ -resolution characteristics of the optical system of this embodiment as described above.
- FIG. 17 shows the configuration of an in-vehicle system (driving assistance device) 600 as the E-mirror (imaging system) described above.
- the in-vehicle system 600 described here is a system for assisting the driving (steering) of a vehicle based on the image data of the rear, lower and front lower sides of the vehicle acquired by the imaging device 10 .
- the in-vehicle system 600 has an imaging device 10 , a vehicle information acquisition device 20 , a control device (control section, ECU: electronic control unit) 30 , and a warning device (warning section) 40 .
- the imaging device 10 includes an imaging unit 1 including an optical system and an imaging device, an image processing unit 2 , a parallax calculation unit 3 , a distance acquisition unit (acquisition unit) 4 , and a risk determination unit 5 .
- the imaging units 1 are provided on the left and right sides of the vehicle, respectively.
- a processing unit is configured by the image processing unit 2 , the parallax calculation unit 3 , the distance acquisition unit 4 and the risk determination unit 5 .
- step S1 the image capturing unit 1 captures an object (subject) such as an obstacle or a pedestrian behind, below, or on the front side of the vehicle to obtain a captured image (image data).
- object such as an obstacle or a pedestrian behind, below, or on the front side of the vehicle to obtain a captured image (image data).
- step S2 the vehicle information acquisition device 20 acquires vehicle information.
- Vehicle information is information including vehicle speed, yaw rate, steering angle, and the like.
- step S3 the image processing unit 2 performs image processing on the image data acquired by the imaging unit 1. Specifically, image feature analysis is performed to analyze feature amounts such as the amount and direction of edges in image data and density values.
- step S4 the parallax calculation unit 3 calculates parallax (image shift) information between the plurality of image data acquired by the imaging unit 1.
- a method for calculating the parallax information known methods such as the SSDA method and the area correlation method can be used, and thus description thereof is omitted here. Note that steps S2, S3, and S4 may be performed in the order described above, or may be performed in parallel with each other.
- step S5 the distance acquisition unit 4 acquires (calculates) distance information from the object imaged by the imaging unit 1.
- the distance information can be calculated based on the parallax information calculated by the parallax calculator 3 and the internal and external parameters of the imaging unit 1 .
- the distance information here is information related to the relative position to the object, such as the distance from the object, the amount of defocus, and the amount of image shift. It may be expressed indirectly.
- step S6 the risk determination unit 5 uses the vehicle information acquired by the vehicle information acquisition device 20 and the distance information calculated by the distance acquisition unit 4 to determine the preset distance to the target object. It is determined whether or not it is included in the range of . This makes it possible to determine whether or not there is an object within a set distance behind the vehicle. can determine the possibility of If there is an object within the set distance and there is a possibility of a dangerous event, the danger determination unit 5 determines that there is danger (step S7). None” (step S8).
- the danger determination unit 5 determines that there is danger, it notifies (transmits) the determination result to the control device 30 and the warning device 40 .
- the control device 30 controls the vehicle based on the determination result of the danger determination unit 5 (step S6), and the warning device 40 controls the vehicle based on the determination result of the danger determination unit 5.
- passengers is warned (step S7).
- the determination result may be notified to at least one of the control device 30 and the warning device 40 .
- the control device 30 controls the vehicle such as returning the steering wheel so as not to change lanes, or not to fall into the gutter or run onto the sidewalk, or to generate braking force on the wheels. conduct.
- the warning device 40 warns the user by, for example, issuing a warning sound (warning), displaying warning information on the screen of a car navigation system or the like, or vibrating a seat belt or steering wheel.
- a split-pupil imaging device having a plurality of pixel units arranged in a two-dimensional array is used as the imaging device of the imaging unit 1
- one pixel unit is composed of a microlens and a plurality of photoelectric conversion units, receives a pair of light beams passing through different regions in the pupil of the optical system, and converts a pair of image data. It can be output from each photoelectric conversion unit.
- the image displacement amount of each region is calculated by correlation calculation between the paired image data, and the image displacement map data representing the distribution of the image displacement amount is calculated by the distance acquisition unit 4 .
- the distance acquisition unit 4 may further convert the image shift amount into a defocus amount and generate defocus map data representing the distribution of the defocus amount (the distribution on the two-dimensional plane of the captured image). Further, the distance acquisition unit 4 may acquire distance map data of the distance to the object converted from the defocus amount.
- the in-vehicle system 600 includes a notification device (notification unit) for notifying the in-vehicle system manufacturer (manufacturer), the vehicle sales agency (dealer), etc., when a dangerous event such as a collision actually occurs.
- a notification device for notifying the in-vehicle system manufacturer (manufacturer), the vehicle sales agency (dealer), etc., when a dangerous event such as a collision actually occurs.
- the notification device it is possible to employ a device that transmits information about a dangerous event to a preset external destination by e-mail or the like.
- the notification destination of the information on the dangerous event may be any notification destination set by the user, such as an insurance company, a medical institution, the police, or the like.
- the in-vehicle system 600 is applied to driving support (collision damage reduction), but the in-vehicle system 600 is not limited to this, and can be used for cruise control (including all vehicle speed tracking function), automatic driving, etc. good too.
- an imaging system having a configuration equivalent to that of the in-vehicle system 600 may be mounted on a moving object such as an aircraft, a ship, or an industrial robot.
- the lens device is applied to the imaging device 10 as a distance measuring device
- an imaging device in-vehicle camera
- an in-vehicle camera may be placed at the rear or side of the vehicle, and the acquired image information may be displayed on a display unit (monitor) inside the vehicle to assist driving.
- a display unit monitor
- the lens device may be applied to an imaging device such as a digital still camera, a digital video camera, or a film camera, or may be applied to an optical device such as a telescope or a projection device such as a projector.
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Abstract
Description
0.20≦2ftan(θmax/2)/y(θmax)≦0.95
なる条件を満足することを特徴とする。なお、上記光学系を有する撮像装置や該撮像装置を移動体に設置する撮像システム、さらには該撮像システムを備えた移動体も、本発明の他の一側面を構成する。
式(1)の値が下限を下回ると、像面湾曲や歪曲収差等の諸収差が増加して良好な画質の画像データを得ることができないため、好ましくない。また、式(1)の値が上限を超えると、中心領域と周辺領域の解像度の差が少なくなり、求めている射影特性を実現できなくなるため、好ましくない。
また、式(1)の数値範囲を以下のようにするとさらに好ましい。
図10(a)は、実施例1の光学系のθ-解像度特性を示す。ここでは、フルハイビジョン(1920×1080画素)用の撮像素子を用いた場合のθ-解像度特性を示している。この図から分かるように、y=fθでは画角に対して常に同等の解像度を有し、y=2ftan(θ/2)では画角が大きくなるにつれて解像度が増加する。
式(2)は、魚眼レンズに対する各実施例の光学系の周辺領域での解像度分布に関する条件を示している。式(2)の値が下限を下回ると、像面湾曲や歪曲収差等の諸収差が増加して良好な画質の画像データを得ることができないため、好ましくない。また、式(2)の値が上限を超えると、中心領域と周辺領域の解像度の差が少なくなり、求める射影特性を実現できなくなるため、好ましくない。
また、式(2)の数値範囲を以下のようにするとさらに好ましい。
図10(b)は最大半画角が60°である実施例2の光学系のθ-解像度特性を示し、図10(c)は最大半画角が90°である実施例3、4のθ-解像度特性を示す。実施例2~4の光学系でも、実施例1と同様に画角が大きくなるにつれて解像度が増加する。実施例2では、他の実施例の光学系に比べて、中心領域と周辺領域との解像度の差を大きくしている。このように、最大半画角や最大像高、Fno等の仕様が変化しても、十分に画角が大きく、かつ上述した求められる射影特性を有する光学系を実現することができる。
式(3)の値が下限を下回ると、像面湾曲や歪曲収差等の諸収差が増加して良好な画質の画像データを得ることができないため、好ましくない。また、式(3)の値が上限を超えると、中心領域と周辺領域の解像度の差が少なくなり、求める射影特性を実現できなくなるため、好ましくない。
また、式(3)の数値範囲を以下のようにするとさらに好ましい。
また、各実施例の光学系を有する撮像装置が実際に使用されるアプリケーションでは、中心領域と周辺領域の画角差がある程度以上あるほうが、より中心領域と周辺領域の解像度の差分の効果を生かせるため、θmaxは以下の式(4)の条件を満足することが好ましい。
なお、移動体(自動車)が水平方向へ移動するとき、撮像装置は光学系の光軸が水平方向に対して非平行となるように設置される。この場合に、最大半画角をθmax、光学系の最大像高に対応する位置での歪曲量をdθmaxとするとき、
55°≦θmax
20%<|dθmax|
なる条件を満足することが望ましい。
なお、0°より大きいθLは、光軸AXが鉛直方向に対して車体側面710から側方に離れる方向への傾き角度を示している。
図16(b)は、θLが0°である場合の撮像画像のシミュレーション結果を示している。この場合、車線が撮像面の辺に沿って撮像されて直線的に視認しやすい撮像画像が得られるため、歪曲補正等の画像処理を行う必要がない。このため、簡易な構成でリアルタイム性が高い撮像画像を提供できる高レスポンス撮像を行うことができる。またこの場合は、自車体の側面も撮像することができるため、自車体側面と障害物と間隔も認識し易い撮像画像を提供することができる。θLが0°より大きく20°以下である場合も、同様の撮像画像を得ることができる。
また、図13(b)に示すように、水平方向へ移動する車体700を前方から見たときに、撮像装置10は、光学系の光軸L1が鉛直方向に平行となるように設置される。撮像装置10は、車体側面710から離して設置される。このとき、ずらし量Laは以下の式(7)の条件を満足することが好ましい。
αは、図13(b)に示すように車体700を前方から見たときに、光学系の光軸L1(AX)と、該光学系のうち最も物体側の面と光軸L1が交わる点から車体側面710における鉛直方向での端点(前輪の接地点)とを結ぶ直線L2とがなす角度である。また、yαは、直線L2と撮像面との交点から光軸L1までの距離である。式(7)の条件を満足する範囲で撮像装置10を車体側面から任意の距離だけ離して設置しても、適切な撮像を行うことができる。
0.7θmax≦θf<θmax (9)
後方と前側下方の被写体に対して式(8)または(9)を満足するには、光軸L1を水平方向から鉛直方向に傾けて後側下方または前側下方を向かせることになる。式(8)または(9)を満足するように撮像装置10の水平方向での設置角度(光軸の向き)を設定することで、互いに異なる方向である後方と前側下方の被写体を十分な解像度で、かつ撮像面における適切な領域にて撮像することができる。
図16(d)は、θb=0.95θmax(θf=1.05θmax)である場合の撮像画像のシミュレーション結果を示している。前輪付近が中心領域の下部に十分な解像度で映っており、主たる被写体である後続車が周辺領域により高い解像度で映っている。
0.35Lh≦Lf<0.5Lh (11)
式(10)、(11)は、図15(c)に示すように撮像面11aの最周辺領域R3を有効に使用するための条件を示している。これらの条件を満足しないと、高解像度の最周辺領域R3で撮像することができず、撮像画像から詳細な情報を得ることが困難になるため、好ましくない。言い換えれば、式(10)および(11)のうち少なくとも一方を満足することで、最周辺領域R3で高解像度撮像を行うことができる。そして、最周辺領域R3で得られた高解像度の部分画像を切り出して車体モニタ(表示手段)に出力して表示させることで、運転者は後方の詳細な情報を得ることができる。なお、移動体の注目対象は後方の被写体であることが多いため、式(10)を満足することが好ましい。また、式(11)は下記の式(11a)に置き換えることが可能である。
なお、以上説明した撮像システムは、例にすぎず、他の構成や配置を採用してもよい。例えば、Eミラーでは、車体側部に設置された撮像装置の光軸を、前後方向(移動方向)から、それに直交する鉛直方向に傾けることで後方や前側下方を撮像する。これに対して、撮像装置を車体前部や後部に設置して光軸を前後方向に直交する側方に傾けて、前方と側方や後方と側方を撮像するようにしてもよい。
なお、数値例に関する説明は、後述する他の実施例に対応する数値例でも同じである。
(A)レンズ構成
f(焦点距離) 1.42mm
F(開口比) 2.80
最大半画角 90.0°
r1 = 17.48 d1 = 1.00 n1 = 1.868 ν1 = 41.7
r2 = 8.00 d2 = 3.43
* r3 = 44.02 d3 = 1.00 n2 = 1.498 ν2 = 68.4
* r4 = 7.51 d4 = 2.75
r5 = 7.23 d5 = 0.60 n3 = 1.767 ν3 = 49.8
r6 = 2.15 d6 = 2.06
* r7 = -9.32 d7 = 2.24 n4 = 1.851 ν4 = 40.1
r8 = -4.60 d8 = 0.81
ST r9 = ∞ d9 = 0.82
r10 = -16.21 d10 = 0.71 n5 = 1.742 ν5 = 25.7
r11 = -4.05 d11 = 1.14
r12 = 158.10 d12 = 1.44 n6 = 1.694 ν6 = 52.6
r13 = -2.26 d13 = 0.24 n7 = 1.922 ν7 = 20.8
r14 = 13.82 d14 = 0.10
* r15 = 7.74 d15 = 2.79 n8 = 1.583 ν8 = 59.4
* r16 = -2.78 d16 = 2.10
r17 = ∞ d17 = 0.65 n9 = 1.516 ν9 = 64.1
(B)非球面係数
(A)レンズ構成
f(焦点距離) 1.30mm
F(開口比) 2.80
最大半画角 60.0°
* r1 = 20.40 d1 = 1.50 n1 = 1.789 ν1 = 47.9
* r2 = 8.01 d2 = 2.18
r3 = 8.94 d3 = 1.23 n2 = 1.770 ν2 = 48.9
r4 = 2.38 d4 = 2.14
* r5 = -18.79 d5 = 2.35 n3 = 1.851 ν3 = 40.1
* r6 = -63.71 d6 = 0.38
r7 = 5.12 d7 = 1.96 n4 = 1.611 ν4 = 34.6
ST r8 = -10.26 d8 = 1.40
r9 =-154.62 d9 = 1.78 n5 = 1.666 ν5 = 54.0
r10 = -2.35 d10 = 0.40 n6 = 1.895 ν6 = 21.3
r11 = -56.68 d11 = 0.10
* r12 = 5.18 d12 = 4.54 n7 = 1.583 ν7 = 59.4
* r13 = -1.79 d13 = 1.00
r14 = ∞ d14 = 0.65 n8 = 1.516 ν8 = 64.1
r15 = ∞ d15 = 1.10
(B)非球面係数
(A)レンズ構成
f(焦点距離) 0.80mm
F(開口比) 2.00
最大半画角 90.0°
r1 = 19.24 d1 = 1.20 n1 = 1.883 ν1 = 40.8
r2 = 9.00 d2 = 5.16
* r3 = 45.70 d3 = 1.00 n2 = 1.883 ν2 = 40.8
* r4 = 7.03 d4 = 3.06
r5 = 18.85 d5 = 0.50 n3 = 1.774 ν3 = 49.5
r6 = 2.86 d6 = 1.59
* r7 = -7.87 d7 = 0.48 n4 = 1.851 ν4 = 40.1
* r8 = 127.24 d8 = 2.12
ST r9 = ∞ d9 = 0.85
r10 = 13.04 d10 = 0.66 n5 = 1.871 ν5 = 21.8
r11 = -7.20 d11 = 2.67
r12 = 7.65 d12 = 1.38 n6 = 1.698 ν6 = 52.4
r13 = -2.40 d13 = 0.48 n7 = 1.922 ν7 = 20.8
r14 = 9.84 d14 = 0.10
* r15 = 4.78 d15 = 1.86 n8 = 1.583 ν8 = 59.4
* r16 = -2.92 d16 = 1.21
r17 = ∞ d17 = 0.95 n9 = 1.560 ν9 = 56.0
r18 = ∞ d18 = 1.64
r19 = ∞ d19 = 0.30 n10 = 1.500 ν10 = 63.0
r20 = ∞ d20 = 0.10
(B)非球面係数
(A)レンズ構成
f(焦点距離) 1.68mm
F(開口比) 1.80
最大半画角 90.0°
* r1 = 137.12 d1 = 1.00 n1 = 1.851 ν1 = 40.1
r2 = 8.22 d2 = 5.13
* r3 = 14.98 d3 = 1.00 n2 = 1.583 ν2 = 59.4
* r4 = 5.10 d4 = 2.55
r5 = 9.11 d5 = 0.80 n3 = 1.516 ν3 = 64.1
r6 = 3.97 d6 = 3.28
r7 = -3.56 d7 = 0.71 n4 = 1.516 ν4 = 64.1
r8 = -4.02 d8 = 1.93
ST r9 = ∞ d9 = 0.10
r10 = 9.23 d10 = 2.10 n5 = 1.673 ν5 = 32.1
r11 = -13.90 d11 = 3.04
r12 = 8.45 d12 = 3.03 n6 = 1.703 ν6 = 52.4
r13 = -4.26 d13 = 0.50 n7 = 1.923 ν7 = 20.9
r14 = 9.75 d14 = 0.20
* r15 = 5.85 d15 = 3.79 n8 = 1.583 ν8 = 59.4
* r16 = -5.37 d16 = 2.10
r17 = ∞ d17 = 0.65 n9 = 1.516 ν9 = 64.1
r18 = ∞ d18 = 1.10
(B)非球面係数
Claims (28)
- 複数のレンズと、該複数のレンズのうちいずれか2つのレンズの間に配置された開口絞りとを有する光学系であって、
半画角θと像高yとの関係を表す前記光学系の射影特性をy(θ)、前記光学系の最大半画角をθmax、前記光学系の焦点距離をfとするとき、
0.20≦2ftan(θmax/2)/y(θmax)≦0.95
なる条件を満足することを特徴とする光学系。 - 前記最大半画角の8割の半画角をθ80とするとき
1.35≦{y(θmax)-y(θ80)}/(fθmax-fθ80)≦2.50
なる条件を満足することを特徴とする請求項1に記載の光学系。 - 前記開口絞りよりも物体側に非球面を含む少なくとも2つのレンズを有し、前記絞りよりも像側に非球面を含む少なくとも1つのレンズを有することを特徴とする請求項1または2に記載の光学系。
- 前記非球面の少なくとも1つが、その径方向の複数の位置にて曲率の符号が反転する形状を有することを特徴とする請求項3に記載の光学系。
- 0.1≦fsinθmax/y(θmax)≦0.8
なる条件を満足することを特徴とする請求項1から4のいずれか一項に記載の光学系。 - θmax≧60°
なる条件を満足することを特徴とする請求項1から5のいずれか一項に記載の光学系。 - 前記開口絞りよりも物体側に配置された3つの負レンズと、 最も像側に配置された正レンズとを有することを特徴とする請求項1から6のいずれか一項に記載の光学系。
- 物体側から像側に順に配置された、
負の屈折力の第1レンズと、
負の屈折力の第2レンズと、
負の屈折力の第3レンズと、
正または負の屈折力の第4レンズと、
前記開口絞りと、
正の屈折力の第5レンズと、
負の屈折力の第6レンズと、
正の屈折力の第7レンズと、
正の屈折力の第8レンズからなることを特徴とする請求項7に記載の光学系。 - 物体側から像側に順に配置された、
負の屈折力の第1レンズと、
負の屈折力の第2レンズと、
負の屈折力の第3レンズと、
正の屈折力の第4レンズと、
前記開口絞りと、
正の屈折力の第5レンズと、
負の屈折力の第6レンズと、
正の屈折力の第7レンズからなることを特徴とする請求項7に記載の光学系。 - 請求項1から9のいずれか一項に記載の光学系と、
該光学系を介して物体を撮像する撮像素子とを有することを特徴とする撮像装置。 - 移動体に設置される請求項10に記載の撮像装置を有する撮像システムであって、
前記撮像素子の撮像面は、第1の画角に含まれる物体を撮像する第1の領域と、前記第1の画角よりも大きい第2の画角に含まれる物体を撮像する第2の領域とを含み、
前記第2の領域における単位画角あたりの画素数が前記第1の領域における前記単位画角あたりの画素数よりも多く、
前記移動体が水平方向へ移動するとき、前記撮像装置は前記光学系の光軸が水平方向に対して非平行となるように設置され、
最大半画角をθmax、前記光学系の最大像高に対応する位置での歪曲量をdθmaxとするとき
55°≦θmax
20%<|dθmax|
なる条件を満足することを特徴とする撮像システム。 - 前記移動体が水平方向へ移動するとき、前記撮像装置は、前記移動体の移動方向から見たときの前記光軸が鉛直方向に平行となるように設置されることを特徴とする請求項11に記載の撮像システム。
- 前記移動体が水平方向へ移動するとき、前記撮像装置は、前記移動体の移動方向から見たときの前記光軸が鉛直方向に対して前記移動体から離れる側へ傾くように設置されることを特徴とする請求項11または12に記載の撮像システム。
- 前記移動体が水平方向へ移動するとき、前記撮像装置は、前記光学系に対して鉛直方向における下側の物体を撮像するように設置されることを特徴とする請求項11から13のいずれか一項に記載の撮像システム。
- 前記第1の方向としての水平方向から見たときの前記光軸と前記第2の方向としての鉛直方向とのなす角度をθLとするとき、
0°≦θL≦20°
なる条件を満足することを特徴とする請求項11から14のいずれか一項に記載の撮像システム。 - 前記光学系は、前記光軸が前記撮像面の中心に対して前記第1および第2の方向に直交する第3の方向のうち前記移動体から離れる側にずれるように配置されていることを特徴とする請求項11から15のいずれか一項に記載の撮像システム。
- 前記光軸の前記撮像面の中心からのずれ量をLa、前記撮像面の中心から前記光軸へ向かう方向に延びる前記撮像面の辺の長さをLsとするとき、
0.3Ls≦La≦0.5Ls
なる条件を満足することを特徴とする請求項16に記載の撮像システム。 - 前記移動体が水平方向へ移動するとし、前記移動体の移動方向から見たとき、前記光学系における最も物体側の面と前記光軸との交点および前記移動体の鉛直方向における端点を結ぶ第1直線と前記光軸とがなす角度をα、前記第1直線と前記撮像面との交点から前記光軸までの距離をyα、前記光軸の前記撮像面の中心からのずれ量をLa、前記撮像面の中心から前記光軸へ向かう方向に延びる前記撮像面の辺の長さをLsとするとき、
0.3Ls≦La+yα≦0.5Ls
なる条件を満足することを特徴とする請求項16または17に記載の撮像システム。 - 前記移動体が水平方向へ移動するとし、前記移動体の移動方向および鉛直方向に直交する方向から見たとき、前記光学系における最も物体側の面と前記光軸との交点および前記第2の画角おける前記移動体の前輪の前記移動方向での端点を結ぶ直線と前記光軸とのなす角度をθf、最大半画角をθmaxとするとき、
θmax<θf≦1.3θmax
なる条件を満足することを特徴とする請求項11から18のいずれか一項に記載の撮像システム。 - 前記移動体が水平方向へ移動するとし、前記移動体の移動方向および鉛直方向に直交する第3の方向から見たとき、前記第2の画角における前記移動体の前輪の前記移動方向での端点の像点と前記撮像面の中心との距離をLf、前記撮像面の中心から前記像点へ向かう方向に延びる前記撮像面の辺の長さをLhとするとき、
0.5Lh<Lf≦0.65Lh
なる条件を満足することを特徴とする請求項11から19のいずれか一項に記載の撮像システム。 - 前記撮像素子からの出力を用いて生成された画像データを表示する表示手段を有することを特徴とする請求項1から20のいずれか一項に記載の撮像システム。
- 移動体に設置される請求項10に記載の撮像装置と、
該撮像装置により取得された画像情報を処理する処理部を有することを特徴とする撮像システム。 - 前記撮像装置により取得された前記物体までの距離情報に基づいて危険事象の可能性を判定する判定部を有することを特徴とする請求項22に記載の撮像システム。
- 前記危険事象の可能性があると判定された場合に、前記移動体を制御する制御装置を有することを特徴とする請求項23に記載の撮像システム。
- 前記危険事象の可能性があると判定された場合に、前記移動体のユーザに対して警告を行う警告装置を備えることを特徴とする請求項23または24に記載の撮像システム。
- 前記危険事象の情報を外部に通知する通知装置を備えることを特徴と請求項23から25のいずれか一項に記載の撮像システム。
- 請求項10に記載の撮像装置が設けられていることを特徴とする移動体。
- 請求項11から26のいずれか一項に記載の撮像システムが設けられていることを特徴とする移動体。
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