Imaging device

Abstract

To obtain multiple images with different angles of view in an imaging device mounted on a moving body.SOLUTION: An imaging device according to the present disclosure includes an imaging element and an optical system. The imaging element has a plurality of pixels arranged two-dimensionally and generates image data on the basis of the outputs of the plurality of pixels. The optical system forms an image of light from a subject field onto the imaging surface of the imaging element. The optical system forms the image of the light from the subject field on the imaging surface at a magnification corresponding to the angle of view. The optical axis of the optical system on the imaging surface is located at a position offset from the center of the imaging surface.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present disclosure relates to an imaging device.

Background Art

[0002] Conventionally, moving bodies such as automobiles equipped with an in-vehicle display that displays an image showing the rear situation are known. The in-vehicle display may be used, for example, as a rearview monitor that supports a driver when the vehicle is parked. In addition, in these moving bodies such as vehicles, an electronic rearview mirror (hereinafter referred to as an electronic rearview mirror) having a function of displaying an imaging image of the rear may be mounted. Under such circumstances, for example, from the viewpoint of cost reduction, there has been a demand to make the imaging device for the rearview monitor and the imaging device for the electronic rearview mirror common.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, the imaging device for the electronic rearview mirror and the imaging device for the rearview monitor have different viewing angles. For example, the imaging range by the imaging device for the electronic rearview mirror is located, for example, in the peripheral portion of the imaging range by the imaging device for the rearview monitor, that is, in a region deviated from the optical axis. Under such circumstances, depending on the optical characteristics of the optical system used, for example, the angular interval of the imaging positions from the optical axis to the end of the viewing angle is constant. Therefore, when the imaging device for the rearview monitor and the imaging device for the electronic rearview mirror are made common, the resolution of the image for the electronic rearview mirror may decrease. Alternatively, in order to ensure the resolution of the image for the electronic rearview mirror, it is necessary to increase the size of the imaging surface, that is, the size of the image sensor.

[0005] The present disclosure has been made in view of the above, and aims to obtain a plurality of images with different viewing angles in an imaging device mounted on a moving body.

Means for Solving the Problems

[0006] In order to achieve the above object, the imaging device of the present disclosure includes an image sensor, an optical system, and an image processing device. The image sensor has a plurality of pixels two-dimensionally arranged, and generates image data based on the outputs of the plurality of pixels. The optical system forms an image of light from the object field on the imaging surface of the image sensor at a magnification corresponding to the viewing angle. The image processing device generates an image based on the image data. The shape of the imaging surface is a quadrilateral. The image processing device generates the image based on a region in the imaging surface corresponding to the viewing angle. The optical axis of the optical system on the imaging surface is located at a position deviated from the center of the imaging surface by a predetermined distance in a first direction and is located within the region. The optical system is configured such that the angular interval becomes smaller as the first distance from the optical axis increases in the first direction, and the angular interval becomes smaller as the second distance from the optical axis increases in a second direction.

Advantages of the Invention

[0007] According to the present disclosure, a plurality of images with different viewing angles can be obtained in an imaging device mounted on a moving body. Note that the effects described here are not necessarily limited, and may be any of the effects described in this specification.

Brief Description of the Drawings

[0008]

Figure 1

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Embodiments for Carrying Out the Invention

[0009] 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 drawings.

[0010] In the description of the present disclosure, for components having the same or substantially the same functions as those described above with respect to the previously presented figures, the same reference numerals may be used, and the description may be omitted as appropriate. Also, even when representing the same or substantially the same part, there are cases where the dimensions and ratios of each other are represented differently in the drawings. Further, for example, from the viewpoint of ensuring the visibility of the drawings, only the main components are given reference numerals in the description of each drawing, and there are cases where components having the same or substantially the same functions as those described above in the previously presented figures are not given reference numerals.

[0011] Note that the imaging device, imaging system, and display system according to the present disclosure can be appropriately used for various moving bodies. This moving body may be, for example, various vehicles such as bicycles, motorcycles, automobiles, and trains. Also, the moving body may be a moving body such as a ship and an aircraft. Further, the moving body may be one that moves manned or unmanned. Also, the movement of the moving body may be controlled by the user or may be autonomously controlled according to a set route, surrounding situation, etc.

[0012] FIG. 1 is a diagram showing an example of the configuration of an automobile 200 to which a display system 100 according to an embodiment is applied. As shown in FIG. 1, the display system 100 is attached to, for example, the automobile 200. Here, the automobile 200 is an example of a moving body.

[0013] The display system 100 includes an electronic rearview mirror 30, an in-vehicle display 40, and an imaging system 70. The imaging system 70 includes an imaging device 10 and an image processing device 20.

[0014] The imaging device 10 is an in-vehicle camera that images a subject and generates image data. The imaging device 10 is attached to the automobile 200 so as to image, for example, a first imaging direction facing the rear of the vehicle. For example, the imaging device 10 is disposed at the rear 201 of the automobile 200. Here, the rear 201 of the automobile 200 is, for example, the upper part of the license plate, but is not limited thereto. The imaging device 10 may be disposed on the rear glass, the rear bumper, or the like.

[0015] FIG. 2 is a diagram showing an example of the configuration of the imaging device 10 in FIG. 1. As shown in FIG. 2, the imaging device 10 includes an image sensor 121, an optical system 122, a signal processing circuit 131, and an interface 133.

[0016] The image sensor 121 images an image formed on the imaging surface via the optical system 122 and generates image data. A plurality of pixels are arranged two-dimensionally, more specifically, in a matrix form, on the imaging surface of the image sensor 121. As the image sensor 121, for example, a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) image sensor can be used.

[0017] The optical system 122 is an optical unit that forms an image on the imaging surface of the image sensor 121. The optical system 122 includes a lens aperture and a filter, etc. The optical system 122 may include a mirror or a prism that reflects light. The magnification of the image formed by the optical system 122 varies depending on the angle of view, for example.

[0018] FIG. 3 is a schematic diagram showing an example of the relationship between the imaging surface 301 of the imaging device 121 in FIG. 1 and the imaging position on the imaging surface 301 by the optical system 122. FIG. 4 is a diagram showing an example of the angle of view in the vertical direction by the imaging device 10 in FIG. 1. FIG. 4 illustrates a field of view R1 corresponding to the angle of view for the electronic rearview mirror 30, a field of view R2 corresponding to the angle of view for the in-vehicle display 40, and a region R3 outside the imaging range. Further, FIG. 3 illustrates the incident position of light from the horizontal direction 501 when the imaging device 10 is attached to the automobile 200 as illustrated in FIG. 4. Here, each side of the imaging surface 301 is arranged along the horizontal direction 501 or the vertical direction 503 for simplicity of explanation, but it is not limited thereto. Here, the angle of view for the in-vehicle display 40 is an example of the first angle of view. Further, the angle of view for the electronic rearview mirror 30 is an example of the second angle of view.

[0019] As shown in FIG. 3, the imaging device 10 according to the present embodiment is configured such that the position of the optical axis 401 of the optical system 122 on the imaging surface 301 is a position deviated from the center 601 of the imaging device 121. Preferably, the position of the optical axis 401 of the optical system 122 on the imaging surface 301 is in the vicinity of the region 315 that is used for generating the image data of the electronic rearview mirror 30 among the imaging devices 121. More preferably, the position of the optical axis 401 of the optical system 122 on the imaging surface 301 is within the region 315. Here, the imaging surface 301 is an example of the first region. Further, the region 315 is an example of the second region.

[0020] More specifically, the position of the optical axis 401 of the optical system 122 on the imaging surface 301 is a position deviated from the center 601 of the imaging device 121 by a predetermined angle. The predetermined angle is the difference between the offset between the imaging device 121 and the optical system 122 and the depression angle corresponding to the mounting angle of the imaging device 10. Alternatively, the predetermined angle is the sum of the offset between the imaging device 121 and the optical system 122 and the elevation angle corresponding to the mounting angle of the imaging device 10.

[0021] In the example shown in FIG. 3, the offset is the sum of the distance between the center 601 of the imaging device 121 and the imaging position of light from the optical axis direction 403, and the distance corresponding to the depression angle between the imaging position of light from the optical axis direction 403 and the imaging position of light from the horizontal direction 501.

[0022] In the present disclosure, for simplicity of explanation, the horizontal direction 501 is defined as a virtual plane that passes through the exit pupil of the optical system 122 and is horizontal to the ground, but it is not limited thereto. Further, the optical axis direction 403 of the optical system 122 is defined as a virtual plane that passes through the optical axis 401 and whose intersection line with the horizontal direction 501 is parallel to the imaging plane 301.

[0023] In the examples shown in FIGS. 3 and 4, the offset is, for example, 15 degrees. Further, the depression angle is, for example, 3 degrees. However, the magnitudes of the offset and the depression angle are not limited to these and can be arbitrarily set.

[0024] The optical system 122 forms an image of light from the object field at a position on the imaging plane 301 corresponding to the angle with respect to the optical axis 401 of the optical system 122. FIG. 3 illustrates concentric circles 400 connecting the incident position of the optical axis 401 of the optical system 122 on the imaging plane 301, that is, the imaging positions on the imaging plane 301 corresponding to the angles of 10 degrees each from the optical axis center. For example, in the example of FIG. 3, on the imaging plane 301, light within an angular range DU (see FIG. 4) from the horizontal direction 501 to a direction approximately 20 degrees off upward can be incident among the light from the object field. Similarly, on the imaging plane 301, light within an angular range DLU (see FIG. 4) from the optical axis 401 to a direction approximately 90 degrees off downward in the horizontal direction 501 can be incident among the light from the object field.

[0025] Also, in the example shown in FIG. 3, in the concentric circles 400 showing the imaging positions at each angle of 10 degrees from the optical axis 401 on the imaging surface, the intervals between the circles become smaller as the angle from the optical axis 401 increases. In other words, the optical system 122 according to the present embodiment is configured such that the angular interval becomes smaller as it deviates from the optical axis 401. Alternatively, it can be expressed that the optical system 122 according to the present embodiment has a smaller angular change on the imaging surface as the angle of view is larger. Here, the wider the interval of the concentric circles 400, the larger the number of pixels on the imaging surface 301 per 10 degrees. Since a higher pixel density enables a higher spatial frequency, the wider the interval of the concentric circles 400, the higher the resolution of the depth of field regarding the angle of view. That is, in the example shown in FIG. 3, the closer to the optical axis 401 of the optical system 122, the higher the resolution of the depth of field, that is, the spatial resolution.

[0026] Note that in the example shown in FIG. 3, assume that the imaging surface 301 is, for example, 3840×2160 (8M) [px] in size. In this case, when the optical axis 401 is expressed as 0 degrees, the light from the region of 0 to 10 degrees in the depth of field can be imaged using 320 [px] pixels. Also, the light from the region of 0 to 20 degrees in the depth of field can be imaged using 608 [px] pixels. Also, the light from the region of 0 to 30 degrees in the depth of field can be imaged using 835 [px] pixels. Also, the light from the region of 0 to 40 degrees in the depth of field can be imaged using 1010 [px] pixels. Also, the light from the region of 0 to 50 degrees in the depth of field can be imaged using 1152 [px] pixels. Also, the light from the region of 0 to 60 degrees in the depth of field can be imaged using 1265 [px] pixels. Also, the light from the region of 0 to 70 degrees in the depth of field can be imaged using 1373 [px] pixels. Also, the light from the region of 0 to 80 degrees in the depth of field can be imaged using 1459 [px] pixels. Also, the light from the region of 0 to 90 degrees in the depth of field can be imaged using 1535 [px] pixels. Thus, the larger the angle formed with the optical axis 401, the smaller the number of pixels used for imaging in each angular range.

[0027] Note that, as illustrated in FIG. 3, the imaging device 121 may have an imaging surface 303 with a smaller number of pixels than the imaging surface 301. Assume that the imaging surface 303 has a size of, for example, 2560×1920 (5M) [px]. Thus, the number of pixels of the imaging device 121 can be arbitrarily set. Here, the imaging surface 303 is an example of the first region.

[0028] Note that, in the example shown in FIG. 3, the region 315 is a region used for generating image data of the electronic mirror 30 in the imaging device 121. The image data of the region 315 imaged by the imaging device 121 is converted into the image data indicated by the region 305 by an image processing device 20 described later and supplied to the electronic mirror 30. The region 305 is a region corresponding to a viewing angle of 40 degrees in the horizontal direction. The region 305 has a size of, for example, 1206×263 [px]. Note that, as illustrated in FIG. 3, the region 317 in the imaging device 121 may be used for generating image data of the electronic mirror 30. In this case, the image data of the region 317 imaged by the imaging device 121 is converted into the image data indicated by the region 307 by an image processing device 20 described later and supplied to the electronic mirror 30. The region 307 is a region corresponding to a viewing angle of 60 degrees in the horizontal direction. The region 307 has a size of, for example, 1912×400 [px]. Thus, the number of pixels used for generating image data of the electronic mirror 30 in the imaging device 121 can be arbitrarily set. Here, the region 317 is an example of the second region.

[0029] Generally, the viewing angle for rearview is larger than the viewing angle for the electronic mirror. Also, the shooting range for the mirror is located at the peripheral part of the shooting range for rearview. In such a situation, in the imaging device 10 according to the present embodiment, the magnification of the image by the optical system 122 is changed according to the angle (viewing angle) from the optical axis 401, and the optical axis of the optical system 122 is set at a position deviated from the center of the imaging device 121.

[0030] According to this configuration, compared with the configuration in which the optical axis of the optical system 122 is located at the center of the imaging device 121, the common imaging device 10 can be used between the electronic rearview mirror 30 and the in-vehicle display 40 without degrading the resolution of the image displayed on the electronic rearview mirror 30. In other words, images corresponding to the viewing angles for the electronic rearview mirror 30 and the viewing angles for the in-vehicle display 40 can be obtained, and the pixel density regarding the viewing angle for the electronic rearview mirror 30 can be improved.

[0031] 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 signal-processed by the signal processing circuit 131 to the image processing device 20. The interface 133 may be realized by a circuit, for example.

[0032] The image processing device 20 is a device that processes the image data generated by the imaging device 10. For example, the image processing device 20 generates image data for display on each of the electronic rearview mirror 30 and the in-vehicle display 40. Here, the image for the in-vehicle display 40 generated by the image processing device 20 is an example of the first image. Also, the image for the electronic rearview mirror 30 generated by the image processing device 20 is an example of the second image. The image processing device 20 may perform calibration including gamma correction and distortion correction on the image data from the imaging device 10. The image processing device 20 is, for example, a computer including a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). The image processing device 20 supplies the processed image data to the electronic rearview mirror 30 and the in-vehicle display 40.

[0033] The electronic rearview mirror 30 and the in-vehicle display 40 each display the image generated by the image processing device 20.

[0034] The electronic rearview mirror 30 includes a display device and a drive circuit. The display device is a liquid crystal display panel, an organic EL (Electro Luminescence) display, or the like. 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 disposed at the upper part of the vehicle in front of the driver's seat and at the center in the horizontal direction of the vehicle. The electronic rearview mirror 30 displays an image (video) of the scene behind the vehicle captured by the imaging device 10. Thereby, the driver of the automobile 200 can check the situation behind the vehicle by the image of the electronic rearview mirror 30 while the automobile 200 is running or stopped.

[0035] The in-vehicle display 40 includes a display device and a drive circuit. The display device is a liquid crystal display panel, an organic EL display, or the like. The drive circuit drives the display device. The in-vehicle display 40 is installed inside or on the dashboard. The in-vehicle display 40 displays various information such as, for example, a map, route guidance, radio station selection, and various settings. Further, the in-vehicle display 40 functions as a parking assist device. For example, when the automobile 200 reverses, the in-vehicle display 40 displays an image (hereinafter referred to as a "rearview image") of the scene behind the vehicle captured by the imaging device 10. The driver can grasp the situation behind the vehicle by checking the rearview image (video) when the automobile 200 reverses, and can reverse the vehicle safely.

[0036] Here, the operation of the display system 100 according to the present embodiment will be described.

[0037] The display system 100 is set inside the automobile 200. In the display system 100, the imaging device 10 captures an image of the scene behind the vehicle. The image processing device 20 receives the image data (video) generated by the imaging device 10.

[0038] The image processing device 20 generates an image for display on the electronic rearview mirror 30 and the in-vehicle display 40 from the captured image data captured by the imaging device 10 and subjected to predetermined image processing.

[0039] For example, the image processing device 20 equalizes the density of pixels by performing image processing on the captured image. That is, the image processing device 20 interpolates the pixels in the region where the pixels are sparse. For example, the image processing device 20 performs distortion correction processing on the captured image so that the image looks natural.

[0040] For example, the image processing device 20 cuts out an image of a region corresponding to the viewing angle for rearview from the captured image and generates a display image for the in-vehicle display 40. Note that the image processing device 20 may generate a display image for the in-vehicle display 40 based on signals from pixels within a predetermined range of the imaging element 121. For example, the image processing device 20 converts the viewpoint of the image of the viewing field R2 as necessary so that the image of the viewing field R2 corresponding to the viewing angle for the in-vehicle display 40 becomes an image when looking slightly obliquely downward from directly behind the automobile 200. The image processing device 20 resizes the cut-out image to a size suitable for display on the in-vehicle display 40 to generate a rearview image. The generated rearview image is transmitted to the in-vehicle display 40. The in-vehicle display 40 receives and displays the data of the rearview image from the image processing device 20.

[0041] For example, the image processing device 20 extracts an image of a region corresponding to the viewing angle for the electronic rearview mirror 30 from among the captured images corresponding to the viewing angle for review, and generates a display image for the electronic rearview mirror 30. Note that the image processing device 20 may generate a display image for the electronic rearview mirror 30 based on signals from pixels within a predetermined range of the image sensor 121. For example, the image processing device 20 converts the viewpoint of the image of the viewing field R1 corresponding to the viewing angle for the electronic rearview mirror so that the image of the viewing field R1 becomes an image when looking horizontally straight behind the vehicle 200 from the driver's seat. The image processing device 20 resizes the extracted 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.

[0042] As described above, according to the display system 100 according to the present embodiment, in one imaging device 10 mounted on a moving body such as a vehicle 200, a plurality of images having different viewing angles and image resolutions can be generated. As an example, according to the display system 100 according to the present embodiment, a clear image with high resolution for the electronic rearview mirror 30 and a wide-angle image for the in-vehicle display 40 can be obtained by the common imaging device 10.

[0043] Note that the in-vehicle display 40 may display a video obtained by synthesizing videos of a plurality of cameras that image the outside of the vehicle. The video obtained by synthesizing the videos of the plurality of cameras is, for example, an omnidirectional overhead view video.

[0044] In the present embodiment, the electronic rearview mirror 30 used as a rearview mirror is illustrated, but it is not limited thereto. The technology according to the present disclosure is not limited to the electronic rearview mirror 30, and can also be applied to, for example, an electronic mirror used as a door mirror or a fender mirror.

[0045] In the above-described embodiment, the case where the imaging device 10 capable of obtaining a plurality of images with different viewing angles is mounted on a moving body such as an automobile 200 was exemplified. Among these, the viewing angle of each image obtained by the imaging device 10 depends on the mounting angle of the imaging device 10 on the moving body such as the automobile 200. On the other hand, when mounting the imaging device 10 on a moving body such as the automobile 200, there is a need, for example, to mount it so that the imaging device 10 is not conspicuous. Alternatively, the mounting angle of the imaging device 10 may be restricted due to the routing of wiring in a moving body such as the automobile 200.

[0046] Therefore, hereinafter, an imaging device 10 will be described that can secure a vertical viewing angle for obtaining a wide-angle image for the in-vehicle display 40 and can secure a resolution in the horizontal direction for obtaining a clear image with high resolution for the electronic rearview mirror 30 without depending on the mounting angle.

[0047] In the above-described embodiment, as exemplified in FIG. 3, the optical system 122 configured such that the interval between the concentric circles 400 indicating the imaging positions on the imaging surface corresponding to each angle at a predetermined angle (for example, 10 degrees) from the optical axis center becomes smaller as it moves away from the optical axis center was exemplified, but it is not limited to this. The optical system 122 may be configured such that the interval between the concentric circles 400 becomes larger as it moves away from the optical axis center. In other words, the optical system 122 may be configured such that the angular interval becomes larger as it deviates from the optical axis 401. In this case, it can also be expressed that the optical system 122 has a larger angular change on the imaging surface as the viewing angle is larger. FIG. 5 is a schematic diagram showing another example of the relative positional relationship between the imaging surface 301 of the imaging element 121 and the imaging position on the imaging surface 301 by the optical system 122 in the imaging device 10 of FIG. 1. FIG. 5 exemplifies the case of positive offset and the case of negative offset. FIG. 6 is a schematic diagram showing an example of the configuration of each part in the case of positive offset and the case of negative offset in the imaging device 10 of FIG. 1. FIGS. 5 and 6 further exemplify the case without offset as a comparative example.

[0048] The imaging plane 301a indicates the imaging plane 301 in the case of no offset. At this time, as shown in FIG. 5, the center 601a of the imaging plane 301a coincides with the optical axis direction 403 of the optical system 122.

[0049] The imaging plane 301b indicates the imaging plane 301 in the case of a negative offset. At this time, as shown in FIG. 5, the center 601b of the imaging plane 301b is located below the optical axis direction 403 of the optical system 122. Thereby, compared with the case of no offset, the pixel density regarding the angle of view for the electronic mirror 30 located in the peripheral portion of the imaging plane 301 can be improved.

[0050] The imaging plane 301c indicates the imaging plane 301 in the case of a positive offset. At this time, as shown in FIG. 5, the center 601c of the imaging plane 301c is located above the optical axis direction 403 of the optical system 122. Thereby, compared with the case of no offset, or similarly to the case of a negative offset, the pixel density regarding the angle of view for the electronic mirror 30 located in the peripheral portion of the imaging plane 301 can be improved. Of course, the imaging device 10 according to the above-described embodiment can also be configured with a positive offset.

[0051] Note that whether to use a positive offset or a negative offset may be appropriately selected according to the attachment position, attachment angle, wiring routing, etc. to a moving body such as the vehicle 200. FIG. 7 is a diagram showing an example of the angle of view in the vertical direction when the imaging device 10a without offset is attached to the vehicle 200. FIG. 8 is a diagram showing an example of the angle of view in the vertical direction when the imaging device 10c with a positive offset is attached to the vehicle 200. FIG. 9 is a diagram showing an example of the angle of view in the vertical direction when the imaging device 10b with a negative offset is attached to the vehicle 200.

[0052] As shown in FIG. 8, in the case of a positive offset, since the viewing field R2 is located on the upper side in the optical axis direction 403, the imaging device 10c can be attached to the automobile 200 at a larger depression angle compared to the case without offset in FIG. 7. As a result, it becomes possible to attach the imaging device 10c to the automobile 200 so as not to be conspicuous. Further, by increasing the depression angle, the wiring between the imaging device 10c and the image processing device 20 can be taken out more upward compared to the case without offset, so that the space required for arranging the imaging device 10c can also be reduced.

[0053] Also, as shown in FIG. 9, in the case of a negative offset, since the viewing field R2 is located on the lower side in the optical axis direction 403, the imaging device 10b can be attached to the automobile 200 at a depression angle closer to the horizontal direction 501 compared to the case without offset in FIG. 7. As a result, the imaging device 10b can be embedded and mounted in the body of the automobile 200.

[0054] In the above-described embodiment, the rearview electronic mirror 30 for rearward confirmation and the in-vehicle display 40 for displaying a rearview image are exemplified, but the present disclosure is not limited thereto. The technology according to the present disclosure can also be applied to an in-vehicle display 40 that displays a scene image in front of the vehicle (hereinafter referred to as a "front view image") and an electronic mirror for confirming an arbitrary viewing field within the viewing field corresponding to the front view image. Alternatively, it can also be applied to a sensor for detecting an obstacle in an arbitrary viewing field within the viewing field corresponding to the front view image. FIG. 10 is a diagram showing an example of the angular field in the vertical direction when the imaging device 10b in the case of a negative offset is attached to the front of the automobile 200. As shown in FIG. 10, in the case of a negative offset, even when the imaging device 10 is arranged on the front bumper of the automobile 200 or the like, the imaging device 10b can be embedded and attached to the body of the automobile 200 at a depression angle closer to the horizontal direction 501 compared to the case without offset. In this case, it is also possible to image directly below the automobile 200 with respect to the front of the automobile 200 by the imaging device 10b.

[0055] Furthermore, the technology according to the present disclosure can also be applied to an in-vehicle display 40 that displays a scene image on the side of a vehicle (hereinafter referred to as a "side view image") and an electronic mirror for checking any field of view within the field of view corresponding to the side view image. FIG. 11 is a diagram showing an example of the vertical angle of view when the imaging device 10a without offset is attached to the side of the automobile 200. FIG. 12 is a diagram showing an example of the vertical angle of view when the imaging device 10b with a negative offset is attached to the side of the automobile 200. FIG. 13 is a diagram showing an example of the vertical angle of view when the imaging device 10c with a positive offset is attached to the side of the automobile 200.

[0056] As shown in FIG. 12, in the case of the imaging device 10b with a negative offset, since the viewing field R2 is located below the optical axis direction 403, the imaging device 10b can be attached to the automobile 200 at a depression angle closer to the horizontal direction 501 compared to the case without offset in FIG. 11. For example, on the side of the automobile 200, the imaging device 10b can be embedded and mounted in the body of the automobile 200. Thereby, it is also possible to image directly below the automobile 200 with respect to the side of the automobile 200.

[0057] Also, as shown in FIG. 13, in the case of a positive offset, since the viewing field R2 is located on the side of the optical axis direction 403, it can be attached, for example, downward at 80 degrees or the like to the mirror of the automobile 200. Thereby, with respect to the side of the automobile 200, it is possible to image directly below the automobile 200 and also image up to above the horizontal direction 501. Further, when the horizontal direction 501 and the area for the mirror of the automobile 200 are deviated from the optical axis and located in the peripheral portion of the optical system 122, as illustrated in FIG. 5, by using the optical system 122 with a larger angular interval as it deviates from the optical axis, the pixel density in the peripheral portion of the image sensor 121 used for generating the mirror image can be improved.

[0058] Note that the imaging device 10 according to the present disclosure can also be embedded in a pillar of the vehicle 200. FIG. 14 is a diagram showing an example of the vertical field of view angle when the imaging device 10a without offset is attached to a side pillar of the vehicle 200. FIG. 14 illustrates the case where the imaging device 10a without offset is arranged on the A pillar of the vehicle 200 at a depression angle of -20 degrees, that is, an elevation angle of 20 degrees. FIG. 15 is a diagram showing an example of the vertical field of view angle when the imaging device 10b with a negative offset is attached to a side pillar of the vehicle 200. FIG. 15 illustrates the case where the imaging device 10b with a negative offset is arranged on the A pillar of the vehicle 200 at a depression angle of -20 degrees, that is, an elevation angle of 20 degrees. As shown in FIG. 14, in the case of no offset, with respect to the lower part of the vehicle 200, the viewing field R2 is away from the vehicle. On the other hand, as shown in FIG. 15, in the case of a negative offset, since the viewing field R2 is located below the optical axis direction 403, with respect to the lower part of the vehicle 200, it is possible to image up to the vicinity of the vehicle.

[0059] As described above, according to the imaging device, imaging system, and display system according to the present disclosure, in the imaging device 10 mounted on a moving body such as the vehicle 200, a plurality of images with different field of view angles can be obtained.

[0060] Although some 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 can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalent scope thereof.

Description of Reference Numerals

[0061] 10 Imaging device 20 Image processing device 30 Electronic rearview mirror 40 In-vehicle display (rearview) 70 Imaging system 100 represents a system 121 imaging device 122 optical system 131 signal processing circuit 133 interface 200 automobile (vehicle, moving body) 201 rear

Claims

1. an image sensor in which a plurality of pixels are arranged two-dimensionally and which generates image data based on outputs of the plurality of pixels; an optical system that forms an image of light from a subject field on an imaging surface of the imaging element at a magnification ratio corresponding to an angle of view; an image processing device that generates an image based on the image data, The shape of the imaging surface is rectangular, the image processing device generates the image based on an area in the imaging surface corresponding to the angle of view; an optical axis of the optical system on the imaging surface is located at a position offset from the center of the imaging surface by a predetermined distance in a first direction and is located within the region; The optical system includes: the angular intervals become smaller as the first distance from the optical axis increases in the first direction; The angular intervals are configured to become smaller as the second distance from the optical axis increases in a second direction. Imaging device.

2. the optical axis is located at the center of the region in the second direction; The imaging device according to claim 1 .

3. The optical axis is located at the center of the region in the first direction. The imaging device according to claim 1 .

4. The shape of the imaging surface is rectangular. The imaging device according to claim 1 .

5. The first direction is perpendicular to the second direction. The imaging device according to claim 1 .

6. When the imaging device is disposed in a vehicle, the angle of view is an angle of view for an electronic rear-view mirror mounted in the vehicle. The imaging device according to claim 1 .

7. the size of the angle of view is negatively correlated with the number of the plurality of pixels used for the image; The imaging device according to claim 1 .

8. The imaging element is a solid-state imaging element. The imaging device according to claim 1 .

9. The optical system includes a lens aperture and a filter. The imaging device according to claim 1 .

10. The image processing device includes a processor and a memory. The imaging device according to claim 1 .

Images