Event camera device, attachment for event camera, and image processing system

Abstract

To provide an event camera device, an attachment for an event camera, and an image processing system in which observation of an object having no movement can be performed while suppressing decreasing of time resolution.SOLUTION: An event camera device 1 according to an embodiment comprises: an event camera 2 that has a plurality of pixels, and outputs event data indicating luminance change of a pixel having luminance change occurred; a reflection member 3 that is arranged at a front surface side of the event camera 2, and reflects light toward the event camera 2; and a vibration member 4, in which switching between a vibrational state and a non-vibrational state can be performed, and that vibrates the reflection member 3.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an event camera device, an attachment for an event camera, and an image processing system.

Background Art

[0002] In recent years, in the field of computer vision, event cameras may be used to observe moving objects, particularly objects with fast movement. An event camera is configured to capture a change in luminance at each pixel as an event and output information indicating the change in luminance as event data, as described in, for example, Patent Document 1. Therefore, an event camera can capture the movement of an object as a change in luminance on a pixel-by-pixel basis, and has an advantage of obtaining a very high temporal resolution compared to a general frame camera. Note that an event camera may also be referred to as an event-based camera, an event-based vision camera, or the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, since an event camera does not output event data for pixels with no change in luminance, it is difficult to observe an object that is not moving. In addition, an event camera has a characteristic that when the number of pixels with a change in luminance increases, the amount of event data to be output increases, resulting in a decrease in temporal resolution.

[0005] The present disclosure has been made in view of the above circumstances, and an object thereof is to provide an event camera device, an attachment for an event camera, and an image processing system that enable observation of an object without movement while suppressing a decrease in time resolution.

Means for Solving the Problems

[0006] The event camera device according to the present disclosure includes an event camera having a plurality of pixels and outputting event data indicating a luminance change of a pixel in which a luminance change has occurred, a reflection member disposed on the front side of the event camera and reflecting light toward the event camera, and a vibration member capable of switching an operating state between a vibration state and a non-vibration state and vibrating the reflection member.

Brief Description of the Drawings

[0007]

Figure 1

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Mode for Carrying Out the Invention

[0008] Hereinafter, embodiments will be described with reference to the drawings. As shown in FIG. 1, the event camera device 1 of the present embodiment includes an event camera 2, a reflection member 3, and a vibration member 4. These event camera 2, reflection member 3, and vibration member 4 are housed in a case 5 formed in a hollow cylindrical shape or a rectangular tube shape. Note that FIG. 1 is equivalent to a cross-sectional view showing an internal configuration example of the event camera device 1, but hatching for the cross-section is omitted for ease of viewing the drawing.

[0009] The event camera 2 includes a camera body portion 2c that houses an event-based sensor 2a having a plurality of pixels, a control circuit 2b that controls the output of event data, and a lens barrel 2d that houses optical system components such as a lens. This event camera 2 captures a change in luminance at each pixel of the event-based sensor 2a as an event, and outputs information indicating the change in luminance as event data. Note that it is assumed that numerical data indicating a change in luminance or a so-called video signal may be output as event data from the event camera 2, and either may be used.

[0010] In addition, the event camera device 1 includes a drive unit 2e that moves the lens to adjust the focus. This drive unit 2e is controlled by the control circuit 2b, and is configured to be capable of at least one of autofocus in which the event camera 2 itself focuses and focusing based on an instruction from an external image processing device 6.

[0011] In addition, in this embodiment, an adjustment member 7 formed in a predetermined shape is installed at a position with a predetermined distance and a predetermined orientation from the event camera device 1 in a target area (X) to be observed. Thereby, focusing using the adjustment member 7 can be easily performed. Note that the shape of the adjustment member 7 is preferably one that can be easily distinguished from an object existing as a background. Also, focusing by the event camera device 1 is not limited to focusing on the adjustment member 7, but includes focusing on an object observed in the target area (X) and checking whether the once-adjusted focus has shifted during operation.

[0012] The reflecting member 3 is provided in a state inclined at 45 degrees obliquely with respect to the central axis (J1) of the field of view of the event camera 2 in the path where light enters the front surface of the event camera 2, that is, the lens barrel 2d. In this embodiment, the reflecting member 3 is formed in a circular or rectangular shape, and a mirror formed to be larger than or equal to the size that covers the entire lens surface is adopted. Then, the reflecting member 3 reflects the light incident from the opening 5a provided in the case 5 into the case 5 toward the event camera 2. Note that a glass plate or the like may be provided at the opening 5a to prevent dust, water droplets, etc. from entering the inside of the case 5.

[0013] At this time, it is desirable that the reflecting member 3 be arranged as close as possible to the event camera 2. This is because a larger reflecting member 3 is required as the distance from the event camera 2 increases. Therefore, the reflecting member 3 is provided at a position where it does not contact the event camera 2 even if it vibrates as described later, and is provided in the immediate vicinity of the front surface of the event camera 2. By arranging the reflecting member 3 in the vicinity of the event camera 2 in this way, miniaturization of the reflecting member 3 and thus miniaturization of the event camera device 1 are achieved.

[0014] This reflecting member 3 is not limited to a mirror, and for example, a mirror-finished metal surface or a member obtained by plating a flat member can be appropriately adopted as long as it can reflect light. In addition, in FIG. 1, a configuration in which the reflecting member 3 is supported by one support member 8 is illustrated, but the number and arrangement of the support members 8 are not limited to this. For example, a plurality of support members 8 can be provided, the shape can be such that it holds the edge of the reflecting member 3, or a holding structure such as a groove can be provided on the inner surface of the case 5 so that the inner surface of the case 5 itself can be used as the support member 8 or a part constituting the support member 8.

[0015] The vibrating member 4 can switch its operating state between a vibrating state in which the reflecting member 3 is vibrated and a non-vibrating state in which the reflecting member 3 is not vibrated. The vibrating member 4 vibrates the reflecting member 3 by vibrating itself or by generating vibrations. As the vibrating member 4, for example, an ultrasonic vibrator, a piezoelectric vibrator, a motor, a speaker or buzzer that outputs sound, etc. can be appropriately adopted. In the present embodiment, an ultrasonic vibrator is arranged on the back surface of the reflecting member 3, and the reflecting member 3 vibrates when the ultrasonic vibrator vibrates.

[0016] At this time, since it is sufficient to give a minute vibration to the reflecting member 3, and since the reflecting member 3 arranged near the event camera 2 is small, the vibrating member 4 does not need to be large. That is, by the arrangement of the event camera 2 and the reflecting member 3 described above, the size of the vibrating member 4 can be reduced. In addition, since the reflecting member 3 is small, the influence such as the reflection surface being curved is reduced, and it becomes easier to acquire an image affected by vibration. In experiments, it has been confirmed that in the case of a small mirror, by slightly vibrating the edge of the mirror, a sufficient image that can be said to have no curvature can be obtained.

[0017] In addition, the number and arrangement of the vibration members 4 are not limited to those illustrated in FIG. 1. For example, they can be arranged at a position overlapping the central axis (J1) on the back surface of the reflection member 3, that is, at the center of the visual field, so as to ensure vibration at the center of the visual field. Also, a plurality of vibration members 4 can be provided, or the vibration member 4 can be arranged on the support member 8, and the reflection member 3 can be indirectly vibrated by vibrating the support member 8.

[0018] When a motor is adopted as the vibration member 4, an elastic body can be attached to the rotating shaft and brought into contact with the mirror to vibrate it. However, since the vibration applied to the reflection member 3 may be minute, the rotating shaft of the motor can be in a no-load state, and the vibration of the motor itself can be transmitted to the reflection member 3. Also, when a speaker or buzzer is adopted as the reflection member 3, it is not necessarily directly attached to the reflection member 3, and it can also be configured to be installed on the inner surface of the case 5 and vibrate the reflection member 3 by sound.

[0019] In the case of this embodiment, the operating state of the vibration member 4 is switched by a control signal input from an external image processing device 6. Specifically, the event camera device 1 is connected to the image processing device 6 by a data communication line 9, outputs event data to the image processing device 6, and receives a control signal for controlling the operating state from the image processing device 6 via a control signal line 10.

[0020] This image processing device 6 constitutes an image processing system 11 together with the event camera device 1. The image processing device 6 basically utilizes the high temporal resolution of the event camera 2 to observe moving objects, and can also observe stationary objects as needed, for example, when focusing is required. Note that the temporal resolution is an index indicating how short a time it takes to capture an image for one frame, and the higher the temporal resolution, the more accurately the movement occurring in a short time can be observed.

[0021] This image processing apparatus 6 is provided with an image processing unit 6a that at least performs image processing for observing an object that does not move using the event data output from the event camera apparatus 1, and a signal output unit 6b that outputs a control signal for controlling the operating state of the vibration member 4. Hereinafter, an object that is stationary and exists in the target area (X), such as a wall surface or a floor surface, which basically does not move, is collectively referred to as a background.

[0022] Next, the operation of the above-described configuration will be described. As described above, the event camera 2 is suitable for observing an object with fast movement because it can obtain a very high time resolution compared to a general frame camera. On the other hand, it is difficult to observe an object that does not move. Therefore, the event camera apparatus 1 enables the observation of an object that does not move by vibrating the reflection member 3. That is, the event camera apparatus 1 has a configuration that actively utilizes the vibration, which is a troublesome phenomenon that causes camera shake and motion blur for a frame camera or a digital camera and should be removed.

[0023] Hereinafter, an example of a method for observing an object that does not move using the event camera apparatus 1 will be described together with the processing of the image processing apparatus 6. The image processing apparatus 6 executes the background acquisition processing shown in FIG. 2 as necessary, and waits (S11: NO) when the acquisition of the background is not necessary. On the other hand, when the acquisition of the background becomes necessary (S11: YES), it outputs a control signal (S12). As the control signal, for example, a contact output, a voltage signal, a current signal, or the like can be appropriately adopted.

[0024] For example, in the case of a contact output, the vibration member 4 can be set to a vibrating state by an on output and to a non-vibrating state by an off output. Alternatively, in the case of a voltage signal or a current signal, a predetermined threshold value can be set, and the vibration member 4 can be set to a vibrating state when the threshold value is exceeded and to a non-vibrating state when the threshold value is fallen below. Note that when a voltage signal or a current signal is used, the vibration intensity can also be controlled by the voltage value or the current value.

[0025] On one hand, on the side of the event camera device 1, as shown in the flowchart for convenience in Fig. 3, the vibration member 4 waits for the input of a control signal (S21: NO). When the control signal is input (S21: YES), it starts vibrating (S22) and enters a vibration state in which the reflecting member 3 is vibrated. Also, when the control signal continues to be input (S23: NO), the vibration member 4 continues the vibration state.

[0026] Now, when the image processing device 6 outputs a control signal, as shown in Fig. 2, it acquires the background (S13). If the necessary background has not been obtained, for example, when the focusing has not been completed (S14: NO), it does not end the acquisition of the background and returns to step S13 to acquire the background again. On the other hand, when the acquisition of the necessary background is completed, for example, when the focusing is completed (S14: YES), the image processing device 6 ends the acquisition of the background (S14: YES) and stops the output of the control signal (S15). Here, for convenience, the flow of ending the process is shown, but actually, it waits for the state where the acquisition of the background is required again, such as moving to step S11.

[0027] Then, as shown in Fig. 3, when the input of the control signal to the vibration member 4 stops (S23: YES), it stops vibrating (S24) and enters a non-vibration state in which the reflecting member 3 is not vibrated. Here, an example where it is in a vibration state while the control signal is being input is shown, but it can also be configured to enter a vibration state triggered by the input of the control signal and automatically switch to a non-vibration state after a predetermined period. Also, it can be configured to periodically switch between a vibration state and a non-vibration state regardless of the presence or absence of the control signal, like when a person blinks, or to periodically switch between a vibration state and a non-vibration state while the control signal is being input. Also, Fig. 3 shows the flow of ending the process, but actually, the vibration member 4 waits for the input of the next control signal.

[0028] In this way, by vibrating the reflecting member 3 for imaging, it becomes possible to image the background with the event camera 2. Here, FIG. 4 shows a comparison between the background image captured by the frame camera and the background image captured by the event camera device 1. Among these, the comparative example shows an example of a background image captured in a state where the reflecting member 3 is not vibrated, that is, in the same usage form as the conventional event camera 2. On the other hand, the example shows an example of a background image captured by vibrating the reflecting member 3. For the sake of simplicity of explanation, the luminance change of the surrounding environment due to external factors such as the lighting flashing or the sunlight being blocked by clouds is not considered here.

[0029] In the case of the comparative example, since there is no movement in the background, the background image of the event camera 2 is a uniform image, and since there is no luminance change at the point (P) on the edge portion of the stationary object 12A, it is in a state where the point (P) cannot be observed in the captured background image. In FIG. 4, a uniform display mode is schematically shown by hatching.

[0030] On the other hand, in the case of the example, when the reflecting member 3 vibrates, a luminance change occurs in the pixels corresponding to the edges of the stationary object 12A and the stationary object 12B. As a result, the edge portions of the stationary object 12A and the stationary object 12B indicated by white lines are displayed in a distinguishable state in the background image. Also, since there is no large angular deviation in the field of view, such as rotating the reflecting member 3, in the configuration where the reflecting member 3 is vibrated, it was confirmed that the deviation of the edge portion is within about several pixels in the background image actually captured by the event camera device 1. That is, it was confirmed that in the configuration where the reflecting member 3 is vibrated, an image having sufficient practicality can be obtained in observing the position and shape of the stationary object 12 or identifying the edge.

[0031] Note that the white lines in FIG. 4 are exemplified as a general display mode indicating the portions where luminance changes occurred in the image captured by the event camera 2, and they may be displayed in other colors. Also, since the portions where luminance changes occurred are displayed in white, the edge portions may not be clean straight lines and may be displayed in a mode where a plurality of points are arranged linearly. Also, for portions that are edge portions but have no luminance change, such as the side 12Ba of the stationary object 12B, they may remain in a uniform display mode. Also, although illustration is omitted in FIG. 4 for simplification of explanation, if there is a luminance change in a portion other than the edge portion, such as the background wall surface, that portion is also displayed in white. Also, the brightness displayed may change according to the amount of luminance change.

[0032] According to the embodiment described above, the following effects can be obtained. The event camera device 1 includes an event camera 2 having a plurality of pixels and outputting event data indicating the luminance change of the pixels where luminance changes occurred, a reflection member 3 disposed on the front side of the event camera 2 and reflecting light toward the event camera 2, and a vibration member 4 capable of switching an operating state between a vibrating state and a non-vibrating state.

[0033] Thereby, by vibrating the reflection member 3, it becomes possible to slightly change the angle and path length of the light incident on the event camera 2. As a result, for example, a luminance change occurs in the pixels corresponding to the edge portions of the stationary object 12, and event data indicating the luminance change of the pixels where the luminance change occurred is output. Therefore, it becomes possible to observe an object that is not moving using the event camera 2. Also, since the event camera 2 itself is not configured to vibrate, there is no problem in the electric circuit or optical system of the event camera 2.

[0034] Also, since the switching between the vibrating state and the non-vibrating state is enabled instead of constantly vibrating the reflection member 3, when the observation of an object that is not moving is not required, stopping the vibration can prevent the extra output of event data and suppress the decrease in the time resolution.

[0035] Further, since the reflecting member 3 is vibrated by applying minute vibrations thereto, unlike the case where the reflecting member 3 is rotated or the event camera 2 itself is vibrated, the viewing angle of the event camera 2 does not greatly deviate. Therefore, it is a very meaningful configuration when observing a specific range. Also, since there is no need to modify the event camera 2 itself, it is possible to directly use commercially available products or existing event cameras 2, and the practicality is extremely high.

[0036] Since the operating state of the vibration member 4 of the event camera device 1 is controlled by a control signal input from the outside, it is possible to vibrate the vibration member 4 as necessary from an external device such as an image processing device 6.

[0037] Since the event camera device 1 includes a drive unit 2e for adjusting the focus of the event camera 2, for example, it is possible to easily adjust the focus at the time of installation, readjust the focus during operation, or check whether the focus is misaligned.

[0038] The event camera device 1 includes a case 5 that houses the reflecting member 3, the event camera 2, and the vibration member 4. This case 5 is provided with an opening 5a through which external light enters, and the reflecting member 3 reflects the external light incident from the opening 5a into the case 5 toward the event camera 2. Thereby, it is possible to selectively and efficiently reflect the light from the target area (X) toward the event camera 2 while suppressing disturbing light.

[0039] The image processing system 11 includes an event camera 2 having a plurality of pixels and outputting event data indicating the luminance change of pixels where a luminance change has occurred, a reflecting member 3 that reflects light toward the event camera 2, and an event camera device 1 having a vibrating member 4 whose operating state can be switched between a vibrating state and a non-vibrating state, and an image processing unit 6a that uses the event data output from the event camera device 1 and at least performs image processing for observing an object that does not move. Such an image processing apparatus 6 can also obtain the above-described various effects similar to those of the event camera device 1, such as being able to observe an object that does not move while suppressing a decrease in temporal resolution.

[0040] At this time, the image processing apparatus 6 can be configured to capture one image at, for example, time (t1), as schematically showing the vibrating state in FIG. 5. At this time, in the frame camera, the shaking of the image due to vibration affects adjacent pixels and so-called motion blur occurs. However, in the case of the event camera 2, since an image is formed based on the luminance change of a single pixel, motion blur does not occur. Therefore, it is possible to obtain a non-blurred image by applying a pre-designed minute vibration.

[0041] Alternatively, when the vibrating member 4 is controlled from the image processing apparatus 6 side, since the vibration period (T) is considered to be known by trials, experiments, etc., if images are captured at, for example, time (t1), time (t2), and time (t2) for each vibration period (T), it is also possible to acquire a plurality of images in the same vibrating state and perform image processing. Of course, it is also possible to perform image processing using a plurality of images captured from, for example, time (t1) to time (t3).

[0042] Incidentally, when the reflecting member 3 is vibrated, the vibration may be transmitted to the event camera 2. Therefore, for example, as shown in FIG. 6, the support member 8 can be fixed to the inner surface of the case 5 via the cushion material 20 as a vibration suppression member. This cushion material 20 attenuates or absorbs vibration and is made of an elastic body such as rubber, silicon, or urethane, for example. Also, as shown in FIG. 1, the cushion material 20 may not be provided on the support member 8 side, and the event camera 2 may be fixed to the case 5 via the cushion material 20 that also serves as a spacer. Further, the cushion material 20 may be provided in the middle of the support member 8.

[0043] Alternatively, as shown in FIG. 7, the case 5 can be made separable into a cylindrical portion 51 that houses the reflecting member 3 and the vibrating member 4 at a separation position (SP) indicated by a broken line, and a lid portion 52 to which the event camera 2 is fixed. At least one of the connecting portion 51a and the connecting portion 52a between them can be configured as a vibration suppression member so that vibration from the cylindrical portion 51 is not transmitted to the lid portion 52.

[0044] In this way, by providing a vibration suppression member that is provided at a physically connected site between the vibrating member 4 and the event camera 2 and suppresses the transmission of vibration to the event camera 2, it is possible to suppress the transmission of vibration to the event camera 2. Further, since the transmission of vibration to the event camera 2 is suppressed, the possibility of problems occurring in the electric circuit and optical system of the event camera 2 can be further reduced.

[0045] In addition, in the embodiment, the event camera device 1 configured to house the event camera 2 in the case 5 has been exemplified. However, as shown in FIG. 8, the reflecting member 3 and the vibrating member 4 can be made into an attachment 30A that can be arranged separately from the event camera 2. This attachment 30A is provided with a target-side opening 31 that opens to the target region side and a camera-side opening 32 that opens to the event camera 2 side. By being arranged on the front surface of the event camera 2, the light passing through the inside of the attachment 30A is reflected toward the event camera 2.

[0046] In this case, the attachment 30A can be configured to be fixed to the event camera 2, or can be configured to be fixed separately at a predetermined location from the event camera 2. Also, it can be configured to be attached to the front side of the event camera 2. Further, a glass plate or the like can be provided at the target-side opening 31 or the camera-side opening 32 to prevent dust, water droplets, etc. from entering, and the above-described vibration suppression member can also be provided.

[0047] Alternatively, like the attachment 30B shown in FIG. 9, a part of the main body extends to the event camera 2 side to form the attachment portion 33 of the event camera 2, and using the screw hole of the event camera 2, it can also be configured to be fixed with screws 35 via a spacer 34 as needed. In this case, the lens barrel 2d of the event camera 2 can also be inserted into the inside of the attachment 30B. Note that the lens barrel 2d can also be inserted into the inside of the attachment 30A in the same manner.

[0048] In this way, by using the attachment 30 for the event camera 2 including the reflecting member 3 that reflects light toward the event camera 2 and the vibrating member 4 whose operating state can be switched between a vibrating state and a non-vibrating state, it is possible to suppress a decrease in the time resolution and enable observation of stationary objects, etc., and various effects similar to those of the event camera device 1 described above can be obtained. In the event camera device 1 shown in FIG. 1, a configuration excluding the event camera 2, that is, a configuration capable of housing the event camera 2 inside can also be treated as the attachment 30.

[0049] Also, as shown in FIG. 10, the reflecting member 3 can be configured as a half mirror, and a finder 60 can be provided at a position on the opposite side of the opening 5a across the reflecting member 3 so that the target area can be visually confirmed through the opening 5a. In this case, by providing a cover for closing the opening of the finder 60 or making the cover attachable, it is possible to prevent dust, water droplets, or external disturbance light from entering the inside of the case 5 when the finder 60 is not used. It can also be used to confirm the position by illuminating the target area side with a laser pointer through the finder 60.

[0050] Also, as shown in FIG. 11, a configuration can be adopted in which a light source 61 that irradiates light toward the target area through the opening 5a is provided. For example, a laser diode having directivity can be adopted as the light source 61, and a configuration can be adopted that indicates the direction of the field of view like a so-called laser pointer. Alternatively, a non-directional electric bulb or the like can be adopted as the light source 61, and a configuration can be adopted that illuminates the observable range like a so-called flashlight.

[0051] By providing the viewfinder 60 and the light source 61 in the event camera device 1 in this way, and by providing the reflection member 3, even when the orientation of the event camera 2 and the observation orientation are, for example, offset by 90 degrees, the field of view can be easily confirmed when installing the event camera device 1 or when the power of the event camera device 1 is off. Further, the attachment 30 may be configured to be provided with the viewfinder 60 and the light source 61.

[0052] Also, although not shown in the drawings, the viewfinder 60 and the light source 61 may be arranged outside the case 5 instead of inside the case 5. For example, a cylindrical member may be arranged on the outer surface of the case 5 so that the target area (X) can be visually recognized by looking through one end, or a member corresponding to a sight or a rear sight such as a so-called sight may be provided to confirm the orientation. The same applies to the attachment 30. When provided outside, the reflection member 3 does not have to be a half mirror.

[0053] Also, in the embodiment, a configuration of simply connecting to the image processing device 6 is illustrated. However, as shown in FIG. 12, an image processing system 11A can be constructed by providing an image processing unit 6a and a signal output unit 6b in a control device 70 that controls a robot. Thereby, usually, the quick movement of the robot is observed with an event-based camera, and the movement speed and movement direction of the arm are estimated by image processing. On the other hand, when picking up the workpiece 72 supplied in the parts box 71, it is possible to apply it to a usage form such as vibrating the reflection member 3 to confirm the position of the workpiece 72.

[0054] Alternatively, as shown in FIG. 13, an image processing system 11B can be constructed by providing an image processing unit 6a and a signal output unit 6b in a monitoring device 80 that monitors the target area (X). Thereby, usually, the movement and intrusion of a person (M) are monitored, and it becomes possible to apply it to a usage form such as detecting the difference from the normal background, for example, whether the door 81 with restricted access is left open.

[0055] However, the usage forms shown in FIGS. 12 and 13 are just examples, and the present invention can be applied to a system using the event camera 2 that requires observation of a stationary object 12, such as a system that removes image noise using a background image. In this case, when a change in the field of view or a sudden change in brightness occurs due to unexpected vibrations or the like, noise can be removed by canceling the output of the background portion using the pre-learned background image.

[0056] In addition, it is possible to determine whether the event camera 2 has moved or an object within the field of view has moved based on the amount of deviation between the acquired image and the background image. And, since the acquisition and creation of the background image can also be performed at high speed by utilizing the high temporal resolution of the event camera 2, noise removal can also be performed at high speed.

[0057] In the embodiment, a configuration in which a single mirror is provided as the reflecting member 3 is exemplified. However, in that case, since the image is inverted, a configuration in which the image is not inverted can be achieved by arranging a plurality of reflecting members 3 or using a prism. However, even if the image output from the event camera device 1 is inverted, the image can be further inverted on the side of the image processing device 6. Therefore, even in the case where the reflecting member 3 is configured by a single mirror as in the embodiment, it can be fully utilized.

[0058] In the embodiment, a configuration in which a signal output unit 6b is provided in an external device such as the image processing device 6 to output a control signal is exemplified. However, when the event camera 2 is provided with, for example, contact output or analog output, those can be utilized, and a configuration can also be adopted in which a control signal is given to the vibration member 4 from an external device via the event camera 2.

[0059] The present disclosure has been described based on the embodiments, but it should be understood that the present disclosure is not limited to such embodiments or structures. The present disclosure also includes various modifications and modifications within an equivalent range. In addition, various combinations and forms, and further other combinations and forms including only one element, more than one element, or less than one element thereof, are also within the scope and spirit of the present disclosure.

Description of Symbols

[0060] In the drawings, 1 denotes an event camera device, 2 denotes an event camera, 3 denotes a reflection member, 4 denotes a vibration member, 5 denotes a case, 5a denotes an opening, 6 denotes an image processing device, 6a denotes an image processing unit, 11, 11A, and 11B denote an image processing system, 20 denotes a cushioning material (vibration damping member), 30A and 30B denote attachments, 51a and 52a denote connection parts (vibration damping members), 60 denotes a finder, 61 denotes a light source, 70 denotes a control device, and 80 denotes a monitoring device.

Claims

1. an event camera having a plurality of pixels and outputting event data indicating a luminance change of a pixel where a luminance change has occurred; A reflecting member disposed on a front side of the event camera and reflecting light toward the event camera; a vibration member capable of switching an operating state between a vibration state and a non-vibration state and vibrating the reflection member; An event camera device comprising:

2. 2. The event camera device according to claim 1, wherein the operating state of the vibration member is controlled by an externally input control signal.

3. The event camera device according to claim 1 , further comprising a vibration suppressing member provided at a location physically connecting the vibrating member to the event camera, for suppressing transmission of vibrations to the event camera.

4. The event camera device according to claim 1 , further comprising an adjustment unit for adjusting a focus of the event camera.

5. a case that houses the reflecting member, the event camera, and the vibrating member; The case has an opening through which light from the outside enters, The event camera device according to claim 1 , wherein the reflective member reflects external light that enters the inside of the case through the opening toward the event camera.

6. 6. The event camera device according to claim 5, wherein the case is provided with a finder for making the target area visible, or a light source for irradiating light toward the target area.

7. The present invention is used in an event camera having a plurality of pixels and outputting event data indicating a luminance change of a pixel in which a luminance change has occurred, A reflecting member that reflects light toward the event camera; a vibration member capable of switching an operating state between a vibration state and a non-vibration state and vibrating the reflection member; An attachment for an event camera.

8. an event camera device including an event camera having a plurality of pixels and outputting event data indicating a luminance change in a pixel where a luminance change has occurred, a reflective member that reflects light toward the event camera, and a vibration member that is switchable between a vibration state and a non-vibration state and that vibrates the reflective member; an image processing unit that uses the event data output from the event camera device to perform at least image processing for observing a stationary object; An image processing system comprising:

9. 9. The image processing system according to claim 8, wherein the image processing section is provided in a control device for controlling a robot or in a monitoring device for monitoring an object.

Images