Camera

Abstract

The present invention provides an imaging device and an imaging system. The imaging device disclosed herein comprises an imaging element and an optical system. The imaging element has a plurality of pixels arranged two-dimensionally and generates image data based on the output of the plurality of pixels. The optical system images light from a subject area onto an imaging surface of the imaging element at different magnifications depending on the viewing angle. The optical axis of the optical system is located at a position offset from the center of the imaging surface.

Description

Technical Field

[0001] The present disclosure relates to an imaging device and an imaging system. Background Art

[0002] Conventionally, vehicles and other mobile objects are known to be equipped with on-board displays for displaying images showing conditions behind them. These on-board displays are sometimes used, for example, as rearview monitors to assist the driver when parking. Furthermore, these vehicles and other mobile objects are sometimes equipped with electronic rearview mirrors (hereinafter referred to as electronic rearview mirrors) that display camera images of the rear. For example, to reduce costs, there is a need to share the camera devices used for the rearview monitors and the electronic rearview mirrors.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 6349558 Summary of the Invention

[0006] Problems to be solved by the invention

[0007] However, the viewing angles of the camera device for the electronic rearview mirror and the camera device for the rearview monitor are different. For example, the imaging range of the camera device for the electronic rearview mirror is located at the periphery of the imaging range of the camera device for the rearview monitor, that is, in an area deviated from the optical axis. The angular interval between the imaging positions from the optical axis to the end of the viewing angle is constant, depending on the optical characteristics of the optical system used. Therefore, when the camera device for the rearview monitor and the camera device for the electronic rearview mirror are shared, the resolution of the image for the electronic rearview mirror may sometimes be reduced. Alternatively, in order to ensure the resolution of the image for the electronic rearview mirror, the size of the imaging surface, that is, the size of the image sensor, needs to be increased.

[0008] The present disclosure has been made in view of the above-mentioned circumstances, and an object thereof is to obtain a plurality of images having different angles of view in an imaging device mounted on a mobile object.

[0009] Solutions for solving problems

[0010] To achieve the above-mentioned objectives, the imaging device disclosed herein comprises an imaging element and an optical system. The imaging element has a plurality of pixels arranged two-dimensionally, and generates image data based on the output of the plurality of pixels. The optical system forms an image of light from a photographed area onto an imaging surface of the imaging element at different magnifications depending on the viewing angle. The optical axis of the optical system is located at a position offset from the center of the imaging surface.

[0011] Effects of the Invention

[0012] According to the present disclosure, a plurality of images with different viewing angles can be obtained in an imaging device mounted on a mobile object. In addition, the effects described here are not limited and can be any effect described in this specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a diagram showing an example of the configuration of a car to which the display system according to the embodiment is applied.

[0014] Figure 2 It shows Figure 1 A diagram showing an example of the structure of an imaging device.

[0015] Figure 3 It shows Figure 1 Schematic diagram of an example of the relative positional relationship between the imaging surface of the imaging element and the imaging position formed on the imaging surface by the optical system in the imaging device.

[0016] Figure 4 It shows Figure 1 A diagram showing an example of the viewing angle of a camera device in the vertical direction.

[0017] Figure 5 It shows Figure 1 Schematic diagram of another example of the relative positional relationship between the imaging surface of the imaging element and the image formation position formed on the imaging surface by the optical system in the imaging device.

[0018] Figure 6 It shows Figure 1 Schematic diagram of an example of the configuration of each component in the imaging device in the case of a positive offset and a negative offset.

[0019] Figure 7 This is a diagram showing an example of the viewing angle in the vertical direction when the imaging device is mounted on a car without offset.

[0020] Figure 8 This is a diagram showing an example of the viewing angle in the vertical direction when the imaging device is mounted on a car when the imaging device is positively offset.

[0021] Figure 9 This is a diagram showing an example of the viewing angle in the vertical direction when the imaging device is mounted on a car during a negative offset.

[0022] Figure 10 This is a diagram showing an example of the viewing angle in the vertical direction when the imaging device is installed in front of a car during a negative offset.

[0023] Figure 11This is a diagram showing an example of the viewing angle in the vertical direction when the imaging device is installed on the side of a car without offset.

[0024] Figure 12 This is a diagram showing an example of the viewing angle in the vertical direction when the imaging device is installed on the side of a car during a negative offset.

[0025] Figure 13 This is a diagram showing an example of the viewing angle in the vertical direction when the imaging device is installed on the side of a car during positive offset.

[0026] Figure 14 This is a diagram showing an example of a viewing angle in the vertical direction when the imaging device is mounted on a side pillar of an automobile without offset.

[0027] Figure 15 This is a diagram showing an example of a viewing angle in the vertical direction when the imaging device is mounted on a side pillar of an automobile during a negative offset. DETAILED DESCRIPTION

[0028] Hereinafter, embodiments of an imaging device, an imaging system, and a display system according to the present disclosure will be described with reference to the accompanying drawings.

[0029] In addition, in the description of the present disclosure, the same reference numerals are used to mark the components that have the same or substantially the same functions as the components described in the drawings that have appeared, and the description may be omitted as appropriate. In addition, even when representing the same or substantially the same parts, there are cases where the sizes and ratios shown are different from each other depending on the drawings. In addition, for example, from the perspective of ensuring the visibility of the drawings, there are also cases where, in the description of each drawing, only the main components are marked with reference numerals, and even components that have the same or substantially the same functions as the components described in the drawings that have appeared are not marked with reference numerals.

[0030] Furthermore, the imaging device, imaging system, and display system disclosed herein can be appropriately utilized on various mobile objects. Examples of such mobile objects include bicycles, motorcycles, cars, and trains. Furthermore, the mobile object may also include ships and aircraft. Furthermore, the mobile object may be either a moving object with a person on board or a moving object without a person on board. Furthermore, the movement of the mobile object may be controlled by the user or autonomously controlled based on a set path, surrounding conditions, and the like.

[0031] Figure 1 1 is a diagram showing an example of the structure of a car 200 to which the display system 100 according to the embodiment is applied. Figure 1As shown, the display system 100 is installed in, for example, a car 200. Here, the car 200 is an example of a mobile object.

[0032] The display system 100 includes an electronic rearview mirror 30 , an onboard display 40 , and an imaging system 70 . The imaging system 70 includes an imaging device 10 and an image processing device 20 .

[0033] The imaging device 10 is an on-vehicle camera that captures a subject and generates image data. The imaging device 10 is mounted on a vehicle 200, for example, so as to capture images in a first camera direction toward the rear of the vehicle. For example, the imaging device 10 is positioned at the rear 201 of the vehicle 200. Here, the rear 201 of the vehicle 200 is, for example, the upper portion of the license plate, but is not limited thereto. The imaging device 10 may also be positioned on the rear windshield, rear bumper, or the like.

[0034] Figure 2 It shows Figure 1 FIG. 1 is a diagram showing an example of the structure of the imaging device 10. Figure 2 As shown, the imaging device 10 includes an imaging element 121 , an optical system 122 , a signal processing circuit 131 , and an interface 133 .

[0035] The imaging element 121 captures an image formed on an imaging surface via the optical system 122 and generates image data. On the imaging surface of the imaging element 121, a plurality of pixels are arranged two-dimensionally, more specifically, in a matrix. For example, a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor) image sensor can be used as the imaging element 121.

[0036] The optical system 122 is an optical unit for forming an image on the imaging surface of the imaging element 121. The optical system 122 includes a lens, an aperture, and a filter. The optical system 122 may also include a mirror or prism for reflecting light. For example, the optical system 122 can vary the magnification of the image to be formed depending on the viewing angle.

[0037] Figure 3 It shows Figure 1 1 is a schematic diagram showing an example of the relative positional relationship between the imaging surface 301 of the imaging element 121 and the imaging position formed on the imaging surface 301 by the optical system 122 in the imaging device 10. Figure 4 It shows Figure 1 FIG. 1 is a diagram showing an example of the viewing angle of the imaging device 10 in the vertical direction. Figure 4The visual field R1 corresponding to the viewing angle for the electronic rearview mirror 30, the visual field R2 corresponding to the viewing angle for the vehicle-mounted display 40, and the area R3 outside the imaging range are exemplified. Figure 3 The imaging device 10 is shown as an example. Figure 4 The incident position of light from the horizontal direction 501 when the camera is installed in the vehicle 200 as shown in the example. Here, for simplicity of explanation, it is assumed that the edges of the imaging surface 301 are arranged along the horizontal direction 501 or the vertical direction 503, but this is not limited to this. The viewing angle used by the on-board display 40 is an example of a first viewing angle. The viewing angle used by the electronic rearview mirror 30 is an example of a second viewing angle.

[0038] like Figure 3 As shown, the imaging device 10 according to this embodiment is configured such that the position of the optical axis 401 of the optical system 122 on the imaging plane 301 is offset from the center 601 of the imaging element 121. Preferably, the position of the optical axis 401 of the optical system 122 on the imaging plane 301 is near a region 315 of the imaging element 121 used for generating image data for the electronic rearview mirror 30. More preferably, the position of the optical axis 401 of the optical system 122 on the imaging plane 301 is within the region 315. Here, the imaging plane 301 is an example of a first region. Furthermore, the region 315 is an example of a second region.

[0039] More specifically, the position of the optical axis 401 of the optical system 122 on the imaging plane 301 is offset by a predetermined angle from the center 601 of the imaging element 121. This predetermined angle is the difference between the offset (offset) between the imaging element 121 and the optical system 122 and the depression angle (depression) corresponding to the installation angle of the imaging device 10. Alternatively, the predetermined angle is the sum of the offset (offset) between the imaging element 121 and the optical system 122 and the elevation angle (elevation) corresponding to the installation angle of the imaging device 10.

[0040] In addition, Figure 3 In the example shown, the offset is the sum of the following two intervals: the interval between the center 601 of the imaging element 121 and the imaging position of the light from the optical axis direction 403; and the interval corresponding to the depression angle between the imaging position of the light from the optical axis direction 403 and the imaging position of the light from the horizontal direction 501.

[0041] In this disclosure, for simplicity of description, horizontal direction 501 is assumed to define a virtual plane that passes through the exit pupil of optical system 122 and is horizontal to the ground, but the present invention is not limited thereto. Furthermore, optical axis direction 403 of optical system 122 is assumed to define a virtual plane that passes through optical axis 401 and whose intersection with horizontal direction 501 is parallel to imaging plane 301.

[0042] In addition, Figure 3 and Figure 4 In the example shown, the offset is set to 15 degrees, for example, and the depression is set to 3 degrees, for example. However, the offset and depression are not limited to these values ​​and can be set arbitrarily.

[0043] The optical system 122 forms an image of light from the subject area at a position on the imaging plane 301 corresponding to an angle with respect to the optical axis 401 of the optical system 122 . Figure 3 The concentric circles 400 formed by connecting the incident positions of the optical axis 401 of the optical system 122 on the imaging plane 301, that is, the image formation positions corresponding to every 10 degrees from the center of the optical axis on the imaging plane 301 are shown as an example. Figure 3 In the example of FIG. 1 , the angle range DU (refer to FIG. 1 ) of the light from the subject area from the horizontal direction 501 to the direction deviated by approximately 20 degrees upward is Figure 4 ) can be incident on the imaging surface 301. Similarly, the angle range DL (refer to Figure 4 ) can be incident on the imaging surface 301.

[0044] In addition, Figure 3 In the example shown, in the concentric circles 400 representing the imaging positions of each angle of 10 degrees relative to the optical axis 401 on the imaging plane, the larger the angle relative to the optical axis 401, the smaller the interval between the circles. In other words, the optical system 122 involved in this embodiment is configured so that the further away from the optical axis 401, the smaller the angle interval. Alternatively, the optical system 122 involved in this embodiment can also be expressed as the smaller the angle change on the imaging plane is as the viewing angle increases. Here, the wider the interval between the concentric circles 400, the greater the number of pixels on the imaging plane 301 per 10 degrees. If the pixel density is high, the spatial frequency can be increased, so the wider the interval between the concentric circles 400, the higher the resolution of the photographed area related to its viewing angle. In other words, in Figure 3 In the example shown, the closer to the optical axis 401 of the optical system 122 , the higher the resolution of the subject area, that is, the spatial resolution.

[0045] In addition, Figure 3In the example shown, it is assumed that the imaging surface 301 has a size of, for example, 3840×2160 (8M) [px]. In this case, when the optical axis 401 is represented as 0 degrees, light from the area between 0 and 10 degrees in the subject area can be imaged using 320 [px] pixels. Furthermore, light from the area between 0 and 20 degrees in the subject area can be imaged using 608 [px] pixels. Furthermore, light from the area between 0 and 30 degrees in the subject area can be imaged using 835 [px] pixels. Furthermore, light from the area between 0 and 40 degrees in the subject area can be imaged using 1010 [px] pixels. Furthermore, light from the area between 0 and 50 degrees in the subject area can be imaged using 1152 [px] pixels. Furthermore, light from the area between 0 and 60 degrees in the subject area can be imaged using 1265 [px] pixels. Furthermore, light from the area between 0 and 70 degrees in the subject area can be imaged using 1373 [px] pixels. Furthermore, light from the 0-80 degree angle within the subject area can be imaged using 1459 pixels. Furthermore, light from the 0-90 degree angle within the subject area can be imaged using 1535 pixels. Thus, as the angle with optical axis 401 increases, the number of pixels used for imaging in each angular range decreases.

[0046] In addition, if Figure 3 As illustrated, imaging element 121 may also include imaging surface 303 having a smaller number of pixels than imaging surface 301. Assume, for example, that imaging surface 303 has a size of 2560×1920 (5M) [px]. Thus, the number of pixels of imaging element 121 can be arbitrarily set. Here, imaging surface 303 is an example of the first region.

[0047] In addition, Figure 3 In the example shown, area 315 is an area in the imaging element 121 used to generate image data for the electronic rearview mirror 30. The image data of area 315 captured by the imaging element 121 is converted into image data shown in area 305 by the image processing device 20 described later and provided to the electronic rearview mirror 30. Area 305 is an area corresponding to a 40-degree viewing angle in the horizontal direction. The size of area 305 is, for example, 1206×263 [px]. In addition, as shown in FIG. Figure 3As illustrated, area 317 in the imaging element 121 can also be used to generate image data for the electronic rearview mirror 30. In this case, the image data of area 317 captured by the imaging element 121 is converted into image data shown as area 307 by the image processing device 20, described later, and provided to the electronic rearview mirror 30. Area 307 corresponds to a 60-degree viewing angle relative to the horizontal direction. The size of area 307 is, for example, 1912×400 pixels. Thus, the number of pixels in the imaging element 121 used to generate image data for the electronic rearview mirror 30 can be arbitrarily set. Here, area 317 is an example of a second area.

[0048] Generally speaking, the angle of view for rearview is larger than that for an electronic rearview mirror. Furthermore, the imaging range for the rearview mirror is located at the periphery of the imaging range for rearview. In the imaging device 10 according to this embodiment, the magnification of the image of the optical system 122 is changed according to the angle (angle of view) relative to the optical axis 401, and the optical axis of the optical system 122 is set to a position offset from the center of the imaging element 121.

[0049] This configuration allows the use of a common imaging device 10 between the electronic rearview mirror 30 and the onboard display 40, compared to a configuration in which the optical axis of the optical system 122 is located at the center of the imaging element 121, without compromising the resolution of the image displayed by the electronic rearview mirror 30. In other words, images corresponding to the viewing angles of the electronic rearview mirror 30 and the onboard display 40 can be obtained, respectively, and the pixel density associated with the viewing angle of the electronic rearview mirror 30 can be increased.

[0050] The signal processing circuit 131 performs predetermined image processing such as gamma correction and distortion correction on the image data from the imaging device 10. The interface 133 outputs the image data processed by the signal processing circuit 131 to the image processing device 20. The interface 133 may be realized by a circuit, for example.

[0051] The image processing device 20 is a device that processes the image data generated by the camera device 10. For example, the image processing device 20 generates image data for display on the electronic rearview mirror 30 and the onboard display 40, respectively. Here, the image for the onboard display 40 generated by the image processing device 20 is an example of a first image. In addition, the image for the electronic rearview mirror 30 generated by the image processing device 20 is an example of a second image. The image processing device 20 can also perform calibration, including gamma correction and distortion correction, on the image data from the camera device 10. The image processing device 20 is, for example, a computer having a CPU (Central Processing Unit), ROM (Read Only Memory), and RAM (Random Access Memory). The image processing device 20 provides the processed image data to the electronic rearview mirror 30 and the onboard display 40.

[0052] The electronic rearview mirror 30 and the on-vehicle display 40 each display an image generated by the image processing device 20 .

[0053] The electronic rearview mirror 30 includes a display device and a drive circuit. The display device is a liquid crystal display panel or an organic EL (Electro Luminescence) display, etc. The drive circuit drives the display device. The electronic rearview mirror 30 is a display device that functions as a rearview mirror. The electronic rearview mirror 30 is arranged in the upper part of the vehicle in front of the driver's seat and in the center of the vehicle in the horizontal direction. The electronic rearview mirror 30 displays an image (moving image) of the scene behind the vehicle captured by the camera device 10. As a result, the driver of the car 200 can confirm the situation behind the vehicle through the image of the electronic rearview mirror 30 while the car 200 is driving or stopped.

[0054] The on-board display 40 includes a display device and a drive circuit. The display device is a liquid crystal display panel or an organic EL display, etc. The drive circuit drives the display device. The on-board display 40 is arranged in or on the front panel. The on-board display 40 displays various information such as maps, route guidance, radio station selection, and various settings. In addition, the on-board display 40 functions as a parking assistance device. For example, when the car 200 backs up, the on-board display 40 displays an image of the scene behind the vehicle captured by the camera device 10 (hereinafter referred to as the "rear view image"). By confirming the rear view image (moving image) when the car 200 backs up, the driver can understand the situation behind the vehicle and can back up the vehicle safely.

[0055] Here, the operation of the display system 100 according to this embodiment will be described.

[0056] The display system 100 is installed in a car 200. In the display system 100, the imaging device 10 captures an image of a scene behind the car 200. The image processing device 20 receives image data (moving image) generated by the imaging device 10.

[0057] The image processing device 20 generates images to be displayed on the electronic rearview mirror 30 and the in-vehicle monitor 40 based on the captured image data captured by the imaging device 10 and subjected to predetermined image processing.

[0058] For example, the image processing device 20 performs image processing on the captured image to make the density of pixels uniform. In other words, the image processing device 20 interpolates pixels in areas where pixels are sparse. For example, the image processing device 20 performs distortion correction processing on the captured image to make the image look natural.

[0059] For example, the image processing device 20 extracts an image of an area corresponding to the angle of view for rearward vision from the captured image to generate a display image for the onboard display 40. Alternatively, the image processing device 20 may generate a display image for the onboard display 40 based on signals from a predetermined range of pixels of the imaging element 121. For example, the image processing device 20 may shift the viewpoint of the image of the field of view R2 as needed so that the image of the field of view R2 corresponding to the angle of view for the onboard display 40 is the image as viewed from directly behind the vehicle 200 and slightly diagonally downward. The image processing device 20 adjusts the extracted image to a size suitable for display on the onboard display 40 and generates a rearward-view image. The generated rearward-view image is transmitted to the onboard display 40. The onboard display 40 receives and displays the rearward-view image data from the image processing device 20.

[0060] For example, the image processing device 20 captures an image of a region corresponding to the angle of view for the electronic rearview mirror 30 within a captured image corresponding to the angle of view for rearview, and generates an image for display on the electronic rearview mirror 30. Alternatively, the image processing device 20 may generate an image for display on the electronic rearview mirror 30 based on signals from a predetermined range of pixels on the imaging element 121. For example, the image processing device 20 transforms the viewpoint of an image of the field of view R1 so that the image of the field of view R1 corresponding to the angle of view for the electronic rearview mirror is the image directly behind the vehicle 200 as viewed horizontally from the driver's seat. The image processing device 20 adjusts the captured image to a size suitable for display on the electronic rearview mirror 30 and generates an image for display on the electronic rearview mirror 30. The generated image is transmitted to the electronic rearview mirror 30. The electronic rearview mirror 30 receives and displays the image data for display from the image processing device 20.

[0061] As described above, the display system 100 according to this embodiment can generate multiple images with different viewing angles and image resolutions using a single imaging device 10 mounted on a mobile object such as an automobile 200. For example, the display system 100 according to this embodiment can generate a high-resolution, clear image for the electronic rearview mirror 30 and a wide-angle image for the onboard display 40 using a common imaging device 10.

[0062] In addition, the vehicle-mounted display 40 may also display an image obtained by synthesizing images of multiple cameras capturing the outside of the vehicle. The image obtained by synthesizing images of multiple cameras is, for example, an all-around bird's-eye view image.

[0063] In addition, in this embodiment, the electronic rearview mirror 30 is used as a rearview mirror, but the present invention is not limited thereto. The technology involved in this disclosure is not limited to application to the electronic rearview mirror 30, and can also be applied to electronic mirrors used as door mirrors or fender mirrors.

[0064] In the above embodiment, an imaging device 10 capable of capturing multiple images with different viewing angles is mounted on a mobile object such as an automobile 200. However, the viewing angle of each image captured by the imaging device 10 depends on the angle at which the imaging device 10 is mounted on the mobile object such as the automobile 200. On the other hand, when mounting the imaging device 10 on a mobile object such as the automobile 200, for example, there is a need to mount the imaging device 10 in an inconspicuous manner. Alternatively, there may be situations where the mounting angle of the imaging device 10 is limited due to wiring arrangements within the mobile object such as the automobile 200.

[0065] Therefore, the following describes a camera device 10 that can ensure a vertical viewing angle for obtaining a wide-angle image for the vehicle-mounted display 40 and a horizontal resolution for obtaining a high-resolution, clear image for the electronic rearview mirror 30 regardless of the installation angle.

[0066] In the above embodiment, if Figure 3 As illustrated, the optical system 122 is configured such that the distance between concentric circles 400 decreases as the distance from the optical axis center increases. These concentric circles 400 represent image positions on the imaging plane corresponding to each predetermined angle (e.g., 10 degrees) relative to the optical axis center, but the present invention is not limited thereto. The optical system 122 may also be configured such that the distance between concentric circles 400 increases as the distance from the optical axis center increases. In other words, the optical system 122 may also be configured such that the angular distance increases as the distance from the optical axis 401 increases. In this case, the optical system 122 can also exhibit a greater angular variation on the imaging plane as the viewing angle increases. Figure 5 It shows Figure 1FIG. 1 is a schematic diagram of another example of the relative positional relationship between the imaging surface 301 of the imaging element 121 and the imaging position formed on the imaging surface 301 by the optical system 122 in the imaging device 10 . Figure 5 The case of a positive offset and the case of a negative offset are illustrated. Figure 6 It shows Figure 1 Schematic diagram of an example of the configuration of each component in the imaging device 10 in the case of a positive offset and the case of a negative offset. Figure 5 and Figure 6 A case without offset is also illustrated as a comparative example.

[0067] The imaging surface 301a represents the imaging surface 301 when there is no offset. Figure 5 As shown, the center 601 a of the imaging surface 301 a coincides with the optical axis direction 403 of the optical system 122 .

[0068] The imaging plane 301b represents the imaging plane 301 in the case of a negative offset. Figure 5 As shown, the center 601b of the imaging surface 301b is located below the optical axis 403 of the optical system 122. This increases the pixel density related to the viewing angle for the electronic rearview mirror 30 in the peripheral portion of the imaging surface 301 compared to a case where there is no offset.

[0069] The imaging surface 301c represents the imaging surface 301 in the case of positive offset. Figure 5 As shown, the center 601c of the imaging surface 301c is located above the optical axis 403 of the optical system 122. This allows the pixel density in the peripheral portion of the imaging surface 301, which is related to the viewing angle for the electronic rearview mirror 30, to be increased compared to the case of no offset or, similarly to the case of negative offset. Of course, the imaging device 10 according to the above embodiment can also be configured with positive offset.

[0070] In addition, whether to use a positive offset or a negative offset may be appropriately selected according to the installation position, installation angle, wiring processing, etc. on a moving object such as the automobile 200. Figure 7 1 is a diagram showing an example of a viewing angle in the vertical direction when the imaging device 10a is mounted on the automobile 200 when there is no offset. Figure 8 This is a diagram showing an example of a viewing angle in the vertical direction when the imaging device 10 c is mounted on the automobile 200 when the imaging device 10 c is positively offset. Figure 9 This is a diagram showing an example of a viewing angle in the vertical direction when the imaging device 10b is mounted on the automobile 200 during a negative offset.

[0071] like Figure 8As shown, in the case of positive offset, the field of view R2 is located on the upper side of the optical axis direction 403, so it can be compared with Figure 7 The imaging device 10c is mounted on the vehicle 200 at a larger depression angle than in the case where there is no offset. This allows the imaging device 10c to be mounted inconspicuously on the vehicle 200. Furthermore, by increasing the depression angle, the wiring between the imaging device 10c and the image processing device 20 can be routed upwards compared to the case where there is no offset, thereby reducing the space required to install the imaging device 10c.

[0072] In addition, if Figure 9 As shown, in the case of negative offset, the field of view R2 is located on the lower side of the optical axis direction 403, so Figure 7 Compared with the case where there is no deviation, the imaging device 10b can be mounted on the automobile 200 at a depression angle close to the horizontal direction 501. Thus, the imaging device 10b can be mounted on the vehicle body of the automobile 200 in an embedded manner.

[0073] Furthermore, in the above-mentioned embodiment, the electronic rearview mirror 30 for rear confirmation and the vehicle-mounted display 40 for displaying a rear view image are exemplified, but the present invention is not limited thereto. Figure 10 As shown, the technology disclosed herein can also be applied to an on-vehicle display 40 that displays an image of a scene in front of the vehicle (hereinafter referred to as a "front view image") and an electronic mirror for confirming any field of view within the field of view corresponding to the front view image. Alternatively, the technology disclosed herein can also be applied to a sensor for detecting obstacles in any field of view within the field of view corresponding to the front view image. Figure 10 1 is a diagram showing an example of a vertical viewing angle when the imaging device 10b is installed in front of the car 200 during a negative offset. Figure 10 As shown, in the case of negative offset, even when the camera device 10 is disposed on the front bumper or the like of the automobile 200, the camera device 10b can be embedded in the body of the automobile 200 at a depression angle closer to the horizontal direction 501 than in the case of no offset. In this case, the camera device 10b can also capture images of the area immediately below the automobile 200 in front of the automobile 200.

[0074] Furthermore, the technology of the present disclosure can also be applied to an onboard display 40 that displays a scene image to the side of the vehicle (hereinafter referred to as a "side view image") and an electronic mirror for confirming any field of view within the field of view corresponding to the side view image. Figure 11 This is a diagram showing an example of a viewing angle in the vertical direction when the imaging device 10a is installed on the side of the automobile 200 when there is no offset. Figure 12 This is a diagram showing an example of a viewing angle in the vertical direction when the imaging device 10b is installed on the side of the automobile 200 during a negative offset. Figure 13This is a diagram showing an example of a viewing angle in the vertical direction when the imaging device 10 c is mounted on the side of the automobile 200 when the imaging device 10 c is positively offset.

[0075] like Figure 12 As shown, the field of view R2 of the negatively offset camera 10b is located on the lower side of the optical axis direction 403, so it can be compared with Figure 11 In the case of no deviation, the camera device 10b is mounted on the vehicle 200 at a depression angle closer to the horizontal direction 501. For example, the camera device 10b can be mounted on the vehicle body 200 in an embedded manner on the side of the vehicle 200. This allows for capturing images of the area immediately below the vehicle 200 on the side of the vehicle 200.

[0076] In addition, if Figure 13 As shown, in the case of positive offset, the field of view R2 is located on the side of the optical axis direction 403, so it can be installed on the rearview mirror of the car 200 in a manner such as to face downward at 80 degrees. As a result, it is possible to capture the area immediately below the car 200 on the side of the car 200, and it is possible to capture the area above the horizontal direction 501 on the side of the car 200. In addition, when the area for the rearview mirror of the car 200 in the horizontal direction 501 deviates from the optical axis and is located in the peripheral part of the optical system 122, by using Figure 5 The illustrated optical system 122 , in which the angle interval increases as the distance from the optical axis increases, can increase the pixel density in the peripheral portion of the imaging element 121 for generating an image for a rearview mirror.

[0077] Furthermore, the imaging device 10 according to the present disclosure may also be embedded in a pillar of the automobile 200 . Figure 14 This is a diagram showing an example of a viewing angle in the vertical direction when the imaging device 10a is mounted on a side pillar of the automobile 200 when there is no offset. Figure 14 As an example, the imaging device 10 a without offset is arranged on the A-pillar of the automobile 200 at a depression angle of −20 degrees, that is, at an elevation angle of 20 degrees. Figure 15 This is a diagram showing an example of a viewing angle in the vertical direction when the imaging device 10b is mounted on a side pillar of the automobile 200 during a negative offset. Figure 15 For example, the negative offset camera device 10b is placed on the A-pillar of the car 200 at a depression angle of -20 degrees, that is, an elevation angle of 20 degrees. Figure 14 As shown in FIG, in the absence of an offset, the visual field R2 below the car 200 is far from the vehicle. Figure 15 As shown, in the case of a negative offset, the field of view R2 is located on the lower side in the optical axis direction 403 , and therefore the vicinity of the vehicle below the automobile 200 can be captured.

[0078] As described above, according to the imaging device, imaging system, and display system according to the present disclosure, the imaging device 10 mounted on a moving object such as the automobile 200 can obtain a plurality of images having different viewing angles.

[0079] While several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments may be implemented in various other ways and may be omitted, replaced, or modified without departing from the spirit of the invention. These embodiments and their variations are included within the scope and spirit of the invention and are also included within the invention set forth in the claims and their equivalents.

Claims

1. A camera device comprising: an imaging element having a plurality of pixels arranged two-dimensionally and generating image data based on outputs of the plurality of pixels; an optical system that forms an image of light from a subject area on an imaging surface of the imaging element at a magnification ratio corresponding to a viewing angle; and an image processing device that generates an image based on the image data, in, The shape of the imaging surface is a rectangle, The image processing device generates a first image based on a first area of ​​the imaging plane corresponding to a first angle of view, and generates a second image based on a second area of ​​the imaging plane corresponding to a second angle of view of a peripheral portion of the first angle of view. The optical axis of the optical system is located in the second area and deviates from the center of the imaging plane. The optical system is configured such that an angular interval becomes smaller as a distance from the optical axis increases.

2. The imaging device according to claim 1, wherein The first area is the imaging plane.

3. The imaging device according to claim 2, wherein: The second area is located within the first area.

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