Image capturing device and mobile device

Abstract

To provide an image capturing device and mobile device for acquiring images that are easy to stitch together.SOLUTION: An image capturing device 110 comprising at least two cameras is provided, where a camera 260l and a camera 260r are positioned such that a parallax between the camera 260l and the camera 260r is less than a parallax observed when the cameras are arranged to be symmetric about a center line of a region where an imaging range of the camera 260l and an imaging range of the camera 260r overlap.SELECTED DRAWING: Figure 6

Description

[Technical field]

[0001] The present invention relates to an imaging device and a mobile device that captures multiple images to be stitched together. [Background technology]

[0002] Technologies are being developed that stitch together images taken by multiple cameras to generate a single image (e.g., a wide-angle image, a spherical image, etc.).

[0003] For example, Japanese Patent No. 3478686 (Patent Document 1) discloses a configuration in which a plurality of cameras are arranged closely together. According to Patent Document 1, it is possible to reduce the parallax of images captured by each camera.

[0004] Incidentally, in recent years, devices that are worn on the user's body (for example, on the head) (hereinafter referred to as "wearable devices") have been developed, and some wearable devices have a photographing function.

[0005] However, in a wearable device equipped with multiple cameras, due to the constraint that the device must be attached to the user's body, it may not always be possible to arrange the cameras closely together as in Patent Document 1. This may result in a large parallax between the cameras, which may increase the processing load required to stitch together the images using pattern matching or the like.

[0006] For this reason, there has been a demand for a technique for acquiring images that can be easily stitched together in an image capturing device equipped with multiple cameras. Summary of the Invention [Problem to be solved by the invention]

[0007] The present invention has been made in consideration of the problems in the conventional technology described above, and has an object to provide an imaging device and a mobile device that can capture images that can be easily stitched together. [Means for solving the problem]

[0008] That is, according to the present invention, A photographing device having at least two photographing means, The parallax between the first imaging means and the second imaging means is The first and second imaging means are arranged so that the parallax is smaller than that in a case where the imaging range of the first imaging means and the imaging range of the second imaging means are arranged symmetrically with respect to a center line of an overlapping area. An imaging device is provided. Effect of the Invention

[0009] According to the present invention, it is possible to provide an image capturing device and a moving device that capture images that can be easily stitched together. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of the overall hardware of an imaging system according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a diagram showing a hardware configuration included in the imaging system of the present embodiment. [Diagram 3] FIG. 2 is a software block diagram included in the imaging system of the present embodiment. [Figure 4] 4 is a flowchart of a process executed by the imaging system of the present embodiment. [Diagram 5] FIG. 1 is a diagram illustrating an imaging device according to a conventional technique. [Figure 6] FIG. 2 is a diagram illustrating an image capturing apparatus according to the embodiment. [Figure 7] FIG. 2 is a diagram illustrating a first mode of the imaging device of the present embodiment. [Figure 8] FIG. 4 is a diagram illustrating a second mode of the imaging device of the present embodiment. [Figure 9] FIG. 4 is a diagram illustrating a third mode of the imaging device of the present embodiment. [Figure 10] 1A to 1C are diagrams illustrating an embodiment of a photographing device equipped with four cameras. [Figure 11]FIG. 11 is a diagram for explaining an example of another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The present invention will be described below with reference to an embodiment, but the present invention is not limited to the embodiment described below. In addition, in each drawing referred to below, the same reference numerals are used for common elements, and the description thereof will be omitted as appropriate.

[0012] Fig. 1 is a diagram showing a schematic configuration of the overall hardware of an image capturing system 100 in this embodiment. Fig. 1 illustrates, as an example, an environment in which an image capturing device 110 and an information processing device 120 are connected via a network 130 such as the Internet or a LAN. Note that the number of image capturing devices 110 and information processing devices 120 is not limited to that shown in Fig. 1, and there is no limit to the number of devices included in the image capturing system 100. Also, the image capturing device 110 and information processing device 120 may be connected to the network 130 by either a wired or wireless method.

[0013] The photographing device 110 is a device worn by a user, such as a wearable device, to capture an image of the user's surroundings. The photographing device 110 shown in FIG. 1 is a device configured to be worn on the user's head, but this is not a particular limitation of the embodiment, and the photographing device 110 can be worn at any part of the user's body. The photographing device 110 of this embodiment is equipped with at least two cameras, and can generate a wide-angle image such as a panoramic image or a celestial sphere image by stitching together images captured by the respective cameras. The image captured by the photographing device 110 may be a still image or a video. In the embodiment described below, a wearable device is given as an example of the photographing device 110, but this is not a particular limitation of the embodiment, and the photographing device may be in a form other than a wearable device.

[0014] The information processing device 120 is, for example, a device such as a personal computer. The information processing device 120 of this embodiment can receive an image captured by the imaging device 110, and perform processing to generate a wide-angle image and display the image. The form of the information processing device 120 is not limited to a personal computer, and may be, for example, a smartphone terminal, a tablet terminal, or the like.

[0015] Next, the hardware configuration of each device will be described. Fig. 2 is a diagram showing the hardware configuration included in various devices constituting the imaging system 100 of this embodiment, Fig. 2(a) shows an example of the imaging device 110, and Fig. 2(b) shows an example of the information processing device 120.

[0016] First, a description will be given of the photographing device 110. As shown in Fig. 2(a), the photographing device 110 includes a CPU 210, a RAM 220, a ROM 230, a storage device 240, a communication I / F 250, a camera 260, and a sensor 270, and each piece of hardware is connected via a bus.

[0017] The CPU 210 is a device that executes a program that controls the operation of the image capturing device 110 and performs predetermined processing. The RAM 220 is a volatile storage device that provides an execution space for the program executed by the CPU 210, and is used for storing and extracting the program and data. The ROM 230 is a non-volatile storage device that stores the program executed by the CPU 210, firmware, and the like.

[0018] The storage device 240 is a readable / writable non-volatile storage device that stores an OS, various software, setting information, various data, and the like that operate the image capturing device 110. Typical examples of the storage device 240 include a hard disk drive (HDD) and a solid state drive (SSD), but the embodiment is not particularly limited thereto, and the storage device 240 may be a removable storage medium such as an SD card.

[0019] The communication I / F 250 connects the photographing device 110 to the network 130, and enables communication with other devices via the network 130. The communication via the network 130 may be either wired communication or wireless communication, and various types of data can be transmitted and received using a predetermined communication protocol such as TCP / IP.

[0020] The camera 260 is a device including a lens optical system, a solid-state imaging element, and the like, and can capture an image. The image captured by the camera 260 of this embodiment may be a still image or a video. The camera 260 of this embodiment may be a wide-angle camera having an angle of view of 180 degrees or more. The imaging device 110 of this embodiment may include at least two cameras 260. The camera 260 of this embodiment constitutes an imaging means.

[0021] Next, the information processing device 120 will be described. As shown in Fig. 2(b), the information processing device 120 includes a CPU 210, a RAM 220, a ROM 230, a storage device 240, a communication I / F 250, a display 280, and an input device 290, and each piece of hardware is connected via a bus. Note that the CPU 210, the RAM 220, the ROM 230, the storage device 240, and the communication I / F 250 are the same as those of the imaging device 110 described in Fig. 2(a), so details will be omitted.

[0022] The display 280 is a device that displays various data, images, the status of the information processing device 120, etc., to the user, and examples thereof include an LCD (Liquid Crystal Display). The input device 290 is a device that allows the user to operate the information processing device 120, and examples thereof include a keyboard and a mouse. The display 280 and the input device 290 may be separate devices, or may have the functions of both, such as a touch panel display.

[0023] The hardware configuration of each device has been described above. Next, the functional means executed by each piece of hardware in this embodiment will be described with reference to Fig. 3. Fig. 3 is a software block diagram included in the imaging system 100 of this embodiment.

[0024] 3, the photographing device 110 of this embodiment includes the functional means of a photographing unit 311 and a data transmitting unit 312. The information processing device 120 of this embodiment includes the functional means of a data receiving unit 321, a composite image generating unit 322, an image display unit 323, and an image data storage unit 324. Each of the functional means will be described in detail below.

[0025] First, a description will be given of the functional means of the photographing device 110. The photographing unit 311 constitutes the photographing means of this embodiment, and is a means for controlling the camera 260 to photograph an image and acquire it as image data.

[0026] The data transmission unit 312 is a unit that controls the communication I / F 250 of the photographing device 110 and transmits image data photographed by the photographing unit 311 to the information processing device 120 via the network 130. The data transmission unit 312 constitutes a transmission unit of this embodiment.

[0027] Next, a description will be given of the functional means of the information processing device 120. The data receiving unit 321 is a means for controlling the communication I / F 250 of the information processing device 120 and receiving various data from the data transmitting unit 312 of the image capturing device 110. The data receiving unit 321 constitutes a receiving means of this embodiment.

[0028] The composite image generating unit 322 constitutes the image generating means of this embodiment, and is a means for performing pattern matching on the images received by the data receiving unit 321 and generating a composite image by stitching together a plurality of images. The composite image generating unit 322 of this embodiment can generate, for example, a panoramic image or a spherical image.

[0029] The image display unit 323 is a unit that controls the display 280 and displays the image generated by the composite image generation unit 322. The image display unit 323 constitutes the display unit of this embodiment.

[0030] The image data storage unit 324 is a unit that controls the storage device 240 and stores the image generated by the composite image generation unit 322. The image data storage unit 324 constitutes a storage unit of this embodiment.

[0031] The above-mentioned software blocks correspond to functional means realized by causing each piece of hardware to function by executing the program of this embodiment by the CPU 210. Also, the functional means shown in each embodiment may be realized entirely by software, or part or all of them may be implemented as hardware that provides equivalent functions.

[0032] Furthermore, all of the above-mentioned functional means do not necessarily have to be included in the configuration shown in Fig. 3. For example, in another preferred embodiment, the photographing device 110 may have the functional means included in the information processing device 120 of Fig. 3 and generate a composite image. In another embodiment, each functional means may be realized by cooperation between the photographing device 110 and the information processing device 120.

[0033] Next, the process of generating a composite image by the above-mentioned functional means will be described with reference to Fig. 4. Fig. 4 is a flowchart of the process executed by the image capturing system 100 of this embodiment.

[0034] The photographing system 100 of this embodiment starts processing from step S1000. Next, in step S1001, the photographing unit 311 of the photographing device 110 controls the camera 260 to photograph an image. In step S1001, a plurality of images are photographed by the plurality of cameras 260. The photographed images are transmitted from the photographing device 110 to the information processing device 120 via the network 130, for example.

[0035] In step S1002, the composite image generating unit 322 performs a stitching process on the multiple images captured in step S1001. The composite image generating unit 322 of this embodiment can stitch together the multiple images, for example, by performing pattern matching based on a common subject included in the multiple images.

[0036] In the next step S1003, the composite image generating unit 322 generates a plurality of images as one composite image. The composite image generated in step S1003 may be, for example, a panoramic image or a spherical image. The generated composite image may be displayed by the image display unit 323 or may be stored in the image data storage unit 324.

[0037] After that, the image capturing system 100 ends the process in step S1004. By the process shown in Fig. 4, the image capturing system 100 of the present embodiment can stitch together a plurality of captured images to generate a composite image such as a panoramic image or a spherical image.

[0038] A more specific configuration of the image capturing device 110 of this embodiment will be described below, but as a prerequisite, a conventional image capturing device 110' will be described with reference to Fig. 5. Fig. 5 is a diagram illustrating an image capturing device 110' in the prior art.

[0039] FIG. 5(a) shows the configuration of a conventional imaging device 110', which includes two cameras 260l' and 260r'. The dashed lines in FIG. 5(a) indicate the imaging ranges of the cameras 260l' and 260r', respectively. The dashed line A in FIG. 5(a) is a line indicating the center of the area where the imaging ranges of the cameras 260l' and 260r' overlap. The lines Bl and Br in FIG. 5(a) are lines that pass through the entrance pupil positions of the cameras 260l' and 260r' and are parallel to the line A. Here, the entrance pupil position refers to the position where the line extending the principal ray (ignoring the effect of the lens) intersects with the optical axis in the imaging optical system. In the embodiment described below, the distance between the lines Bl and Br is referred to as "parallax."

[0040] In the conventional photographing device 110', as shown in FIG. 5(a), the cameras 260l' and 260r' are arranged so that the photographing ranges of the cameras are symmetrical with respect to the center line of the device. In other words, the cameras 260l' and 260r' are arranged so that the photographing ranges of the cameras are symmetrical with respect to the line A. In this case, consider the case where three objects (□, O, and △ in FIG. 5) are photographed. Here, the object indicated by the O mark in FIG. 5(a) (hereinafter referred to as the object O) is located at a distance (hereinafter referred to as the reference distance) that is a reference for stitching together multiple images, the object indicated by the □ mark (hereinafter referred to as the object □) is located farther away than the reference distance, and the object indicated by the △ mark (hereinafter referred to as the object △) is located closer than the reference distance.

[0041] Fig. 5(b) shows an example of an image taken by camera 260l' located on the left side of the device, and Fig. 5(c) shows an example of an image taken by camera 260r' located on the right side of the device. The hatched areas in each figure indicate areas where the images taken by each camera overlap.

[0042] A single composite image can be generated by stitching together the image in Fig. 5(b) and the image in Fig. 5(c). The images can be stitched together, for example, by pattern matching of the subjects contained in the overlapping areas. Here, Fig. 5(d) shows an example of combining the overlapping areas of each image.

[0043] As shown in FIG. 5(d), object O is located at the reference distance and therefore exists in the same position within the overlapping area. On the other hand, object □ and object △ are located away from the reference distance and therefore appear at different positions within the overlapping area in the image captured by camera 260l' and the image captured by camera 260r' as shown in FIG. 5(d). Here, in the conventional imaging device 110', due to the large parallax, object □ captured by camera 260l' and object □ captured by camera 260r' are located at separate positions within the overlapping area. Similarly, object △ captured by camera 260l' and object △ captured by camera 260r' are also located at separate positions within the overlapping area.

[0044] In this way, if the same subject is far away in the overlapping area, the search range for pattern matching in the stitching process becomes wide, and the process of generating the image takes time. Therefore, in this embodiment, the cameras are arranged so that the parallax between the multiple cameras is small.

[0045] FIG. 6 is a diagram for explaining the image capturing device 110 in this embodiment. As shown in FIG. 6(a), in the image capturing device 110 of this embodiment, the cameras 260l and 260r are arranged so that the parallax is smaller than that of the conventional image capturing device 110' shown in FIG. 5. As an example of an arrangement that reduces the parallax, the cameras 260l and 260r can be arranged so that the capturing range is asymmetric with respect to the central axis in the front-rear direction of the image capturing device 110. That is, when the image capturing device 110 of this embodiment shown in FIG. 6(a) is compared with the conventional image capturing device 110' shown in FIG. 5(a), the image capturing device 110 of this embodiment has a smaller parallax.

[0046] Here, consider the case of photographing three objects in FIG. 6(a) (object □, object ◯, and object △ in FIG. 5). The positional relationship between each object and the reference distance is the same as that explained in FIG. 5. FIG. 6(b) shows an example of an image photographed by camera 260l arranged on the left side of the device, and FIG. 6(c) shows an example of an image photographed by camera 260r arranged on the right side of the device. Also, the hatched areas in each figure indicate the areas where the images photographed by each camera overlap.

[0047] A single composite image can be generated by stitching together the image in Fig. 6(b) and the image in Fig. 6(c). The images can be stitched together, for example, by pattern matching of the subjects contained in the overlapping areas. Here, Fig. 6(d) shows an example of combining the overlapping areas of each image.

[0048] As shown in FIG. 6(d), the object O is located at the reference distance, and therefore exists at the same position in the overlapping area. On the other hand, the object □ and the object △ are located away from the reference distance, and therefore, as shown in FIG. 5(d), the object □ photographed by the camera 260l and the object □ photographed by the camera 260r are located at different positions in the overlapping area, and the object △ photographed by the camera 260l and the object △ photographed by the camera 260r are located at different positions in the overlapping area, due to the parallax of the multiple cameras 260 constituting the photographing device 110. However, the photographing device 110 of this embodiment has a smaller parallax than the conventional photographing device 110', and therefore the distance between the objects □ and the distance between the objects △ are smaller than those shown in FIG. 5(d).

[0049] Therefore, in the pattern matching process for stitching together multiple images, the range of search within the images can be narrowed, and the time required to generate a composite image can be shortened. In addition, since the parallax of multiple images is small, the difference in the direction in which the same subject is photographed can be reduced, and differences in shape within the images can be made less likely to occur, making it less likely that errors in pattern matching will occur.

[0050] Furthermore, according to the arrangement of the cameras 260 of this embodiment as shown in FIG. 6(a), the area not captured by each camera (i.e., the blind spot) can be made smaller than in the example arrangement shown in FIG. 5(a), and a composite image can be generated that more comprehensively covers the surroundings of the imaging device 110.

[0051] In the following, examples of the aspects of the image capturing device 110 of this embodiment will be described with reference to Figs. 7 to 9. Figs. 7 to 9 are diagrams for explaining first to third aspects of the image capturing device 110 of this embodiment, respectively. Figs. 7(a), 8(a), and 9(a) show configuration examples of the image capturing device 110' in the prior art, and Figs. 7(b), 8(b), and 9(b) show configuration examples of the image capturing device 110 of this embodiment. In Figs. 7 to 9, dashed lines indicate the ranges captured by each camera. Please note that in Figs. 7 to 9, for the convenience of simplifying the drawings, the parts corresponding to the housings of the image capturing devices 110 and 110' are drawn with light-colored lines.

[0052] First, the first embodiment shown in Fig. 7 will be described. As shown in Fig. 7(a), the conventional photographing device 110' has a perpendicular bisector C of a line C connecting a camera 260l' and a camera 260r'. ⊥ The cameras 260l' and 260r' are arranged so that the optical axes of the cameras (dotted lines in the figure) are symmetrical with respect to the camera 260l. On the other hand, the imaging device 110 in this embodiment has a perpendicular bisector C of the line connecting the camera 260l and the camera 260r, as shown in FIG. 7(b). ⊥ Cameras 260l and 260r are arranged so that the optical axes (dashed lines in the drawing) of the cameras are not symmetrical (asymmetrical) with respect to the left and right cameras 260a and 260b.

[0053] Next, the second aspect shown in Fig. 8 will be described. In the conventional image capturing device 110', as shown in Fig. 8(a), the cameras 260l' and 260r' are arranged so that the line C connecting the cameras 260l' and 260r' and the center line of the area where the images captured by each camera overlap (the dashed line in the figure) are orthogonal to each other. On the other hand, in the image capturing device 110 of the present embodiment, as shown in Fig. 8(b), the cameras 260l and 260r are arranged so that the line C connecting the cameras 260l and 260r and the center line of the area where the images captured by each camera overlap (the dashed line in the figure) are not orthogonal to each other (not perpendicular to each other).

[0054] Next, the third aspect shown in Fig. 9 will be described. In the conventional image capturing device 110', as shown in Fig. 9(a), the cameras 260l' and 260r' are arranged so that the bisector D of the angle formed by the optical axes (dotted lines in the figure) of the cameras 260l' and 260r' is perpendicular to the line C connecting the cameras 260l' and 260r'. On the other hand, in the image capturing device 110 in this embodiment, as shown in Fig. 9(b), the cameras 260l and 260r are arranged so that the bisector D of the angle formed by the optical axes (dotted lines in the figure) of the cameras 260l and 260r is not perpendicular to (not perpendicular to) the line C connecting the cameras 260l and 260r.

[0055] By arranging the cameras as shown in Figures 7(b), 8(b), and 9(b), the parallax between the multiple cameras can be reduced as explained in Figure 6. This shortens the time required for pattern matching processing, and allows capturing images that are easy to stitch together.

[0056] In the embodiment described above, the photographing device 110 equipped with two cameras 260 has been exemplified, but the embodiment is not particularly limited. That is, the number of cameras 260 equipped in the photographing device 110 of this embodiment can be any number, and this embodiment can also be applied to a photographing device equipped with three or more cameras 260.

[0057] Here, an example of an image capturing device equipped with four cameras 260 will be described with reference to Fig. 10. Fig. 10 is a diagram illustrating an aspect of an image capturing device 110 equipped with four cameras 260 in this embodiment.

[0058] The imaging device 110 illustrated in FIG. 10 is configured with four cameras 260: a camera 260lf arranged on the right front, a camera 260rf arranged on the left front, a camera 260lr arranged on the right rear, and a camera 260rr arranged on the left rear. Here, the cameras 260 constituting the imaging device 110 illustrated in FIG. 10 are arranged so that the parallax between adjacent cameras is small. That is, the cameras 260 are arranged so that the parallax between the camera 260lf and the camera 260rf is small, the parallax between the camera 260rf and the camera 260rr is small, the parallax between the camera 260rr and the camera 260lr is small, and the parallax between the camera 260lr and the camera 260lf is small. As a method for reducing the parallax of each camera, for example, the aspects illustrated in FIG. 7 to FIG. 9 can be applied.

[0059] As shown in Figure 10, by arranging the cameras so that the parallax between the cameras is small, it is possible to capture images that are easy to stitch together, thereby shortening the time required for image processing such as pattern matching.

[0060] 10 is also an example and does not limit the embodiment. Therefore, it should be noted that the number of cameras 260 in this embodiment can be any number as long as the cameras are arranged so that the parallax between adjacent cameras is small.

[0061] In the embodiment described above, the photographing device 110 is a wearable device equipped with a plurality of cameras 260, but the embodiment is not limited to this. That is, the embodiment can be applied to a device equipped with a plurality of cameras 260. Here, an embodiment other than a wearable device will be described with reference to FIG. 11.

[0062] Fig. 11 is a diagram for explaining an example of another embodiment. Fig. 11 shows an example of a mobile device 101 equipped with a plurality of cameras 260. Fig. 11(a) shows a robot-type mobile device 101a equipped with wheels and running as an example of the mobile device 101. Fig. 11(b) shows a mobile device 101b, such as a so-called drone, that moves by flying as an example of the mobile device 101. Note that the mobile device 101 may move autonomously or may move by the user's operation.

[0063] Mobile devices 101a and 101b shown in Figures 11(a) and (b) each include at least two cameras 260. Here, the cameras 260 included in mobile device 101 in Figure 11 are arranged so as to reduce the parallax between the cameras, as described in Figure 6. Here, the method of reducing the parallax between the cameras can be, for example, the methods shown in Figures 7 to 9.

[0064] 11, by arranging the cameras so as to reduce the parallax between the cameras, it is possible to capture images that are easy to stitch together. This makes it possible to reduce the time required for image processing such as pattern matching.

[0065] According to the embodiment of the present invention described above, it is possible to provide a photographing device and a moving device that capture images that can be easily stitched together.

[0066] Each function of the above-described embodiments of the present invention can be realized by a device-executable program written in C, C++, C#, Java (registered trademark), etc., and the program of this embodiment can be stored on a device-readable recording medium such as a hard disk drive, CD-ROM, MO, DVD, flexible disk, EEPROM (registered trademark), EPROM, etc. and distributed, and can also be transmitted over a network in a format that can be used by other devices.

[0067] Although the present invention has been described above with reference to an embodiment, the present invention is not limited to the above-described embodiment, and as long as the functions and effects of the present invention are achieved within the scope of embodiments that a person skilled in the art can imagine, they are included in the scope of the present invention. [Explanation of symbols]

[0068] 100...imaging system, 101...mobile device, 110...imaging device, 120...information processing device, 130...network, 210...CPU, 220...RAM, 230...ROM, 240...storage device, 250...communication I / F, 260...camera, 270...sensor, 280...display, 290...input device, 311...imaging unit, 312...data transmission unit, 321...data receiving unit, 322...synthetic image generation unit, 323...image display unit, 324...image data storage unit [Prior art documents] [Patent documents]

[0069] [Patent Document 1] Patent No. 3478686

Claims

1. A photographing device having at least two photographing means, The parallax between the first imaging means and the second imaging means is the first imaging means and the second imaging means are arranged so that the parallax is smaller than that in a case where the imaging range of the first imaging means and the imaging range of the second imaging means are arranged symmetrically with respect to a center line of an overlapping area; Filming equipment.

2. In addition to the first photographing means and the second photographing means, another photographing means is further provided, The parallax between two adjacent imaging means is the two adjacent imaging means are arranged so that the parallax is smaller than that in a case where the imaging ranges of the two adjacent imaging means are arranged symmetrically with respect to a center line of an overlapping area; The imaging device according to claim 1 .

3. A photographing device having at least two photographing means, the first imaging means and the second imaging means are disposed such that the optical axis of the first imaging means and the optical axis of the second imaging means are asymmetric with respect to a perpendicular bisector of a line connecting the first imaging means and the second imaging means; Filming equipment.

4. In addition to the first photographing means and the second photographing means, another photographing means is further provided, The two adjacent imaging means are arranged such that the optical axes of the two adjacent imaging means are asymmetric with respect to a perpendicular bisector of a line connecting the two adjacent imaging means. The imaging device according to claim 3.

5. A photographing device having at least two photographing means, the first and second imaging means are disposed so that a line connecting the first and second imaging means and a center line of an area where the imaging range of the first imaging means and the imaging range of the second imaging means overlap are not perpendicular to each other; Filming equipment.

6. In addition to the first photographing means and the second photographing means, another photographing means is further provided, The two adjacent imaging means are arranged so that a line connecting the two adjacent imaging means and a center line of an area where the imaging ranges of the two adjacent imaging means overlap are not perpendicular to each other. The imaging device according to claim 5 .

7. A photographing device having at least two photographing means, the first and second imaging means are disposed so that a bisector of an angle formed by an optical axis of the first imaging means and an optical axis of the second imaging means is not perpendicular to a line connecting the first and second imaging means; Filming equipment.

8. In addition to the first photographing means and the second photographing means, another photographing means is further provided, The two adjacent imaging means are arranged so that the bisector of the angle formed by the optical axes of the two adjacent imaging means is not perpendicular to a line connecting the two adjacent imaging means. The imaging device according to claim 7.

9. A mobile device comprising the photographing device according to any one of claims 1 to 8.

Images