Compound eye imaging device, distance measurement device, parallax calculation method and distance measurement method

Abstract

This object aims to provide a compound eye imaging device that makes it possible to estimate a sub-pixel parallax with a high degree of precision regardless of a brightness distribution of the front surface of an object. A compound eye imaging device is provided with a standard imaging optical system to generate an image including a standard image and not-less-than-two and even number reference imaging optical systems arranged in a substantially point symmetry with respect to the standard imaging optical system for generating images including a reference image, wherein each of the not-less-than-two and even number reference imaging optical systems is comprised of a correlation value calculation unit (6) that calculates a correlation value for every shifted amount in the case where one of the reference images is shifted in respect of the standard image along a direction in parallel with a base line, a correlation value adding unit (7) that adds the correlation value calculated for eachof the not-less-than-two and even number reference imaging optical systems at every corresponding shifted value so as to calculate a resultant correlation value, and a parallax calculation unit (8) that calculates parallax that is the maximum shifted value at a level of the sub-pixel in the degree of similarity between the standard image and the reference image in accordance with the resultant correlation value.

Description

technical field [0001] The present invention relates to a compound eye imaging device and the like which have a plurality of imaging optical systems and calculate parallax generated between the imaging optical systems. Background technique [0002] In recent years, there has been an increasing need to measure the distance from a predetermined position to an object, or the three-dimensional position (shape) of the object. For example, a method has been proposed for assisting the angle of view of a car, that is, not only displaying images of surrounding objects captured by a small camera mounted on the car, but also displaying the correct distance between the object and the car measured by a distance measuring device. distance information to accurately avoid collisions with surrounding objects. In addition, in mobile phones, televisions, and the like, in order to more faithfully reproduce the realism of video, a stereoscopic video input / output device is required. High precis...

AI Technical Summary

Problems solved by technology

Therefore, there is a problem that the transition of the correlation value does not become a symmetrical object based on the actual parallax, and an estimation error of the parallax occurs.

and, for example Figure 40A as well as Figure 40B The same is true for the shown multi-eye stereo camera using three or more optical systems. There is a problem in that the transition of the correlation value is not symmetrical with respect to the actual parallax, and an estimation error of the parallax occurs.

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