Imaging device

Abstract

To provide an imaging device mounted on a moving body capable of obtaining multiple images with different angles of view.SOLUTION: A disclosed imaging device includes an image sensor and an optical system. The image sensor includes multiple pixels arranged two-dimensionally for generating image data based on the output of the multiple pixels. The optical system forms an image of light from the field of view of the imaging plane of the image sensor. The optical system focuses the light from the field on the imaging plane with magnification according to the angle of view. The optical axis of the optical system in the imaging plane is located at a position off-center in the imaging plane.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to an imaging device. Place Regarding. [Background technology]

[0002] Conventionally, there are known moving bodies such as automobiles equipped with an in-vehicle display that displays an image showing the rearward situation. For example, the in-vehicle display may be used as a rearview monitor that assists the driver when parking the vehicle. In addition, these moving bodies such as vehicles may be equipped with an electronic rearview mirror (hereinafter, referred to as an electronic rearview mirror) that has a function of displaying a captured image of the rearward. In this situation, there has been a demand to standardize the imaging device for the rearview monitor and the imaging device for the electronic rearview mirror, for example, from the viewpoint of cost reduction. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6349558 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the image pickup device for the electronic rear-view mirror and the image pickup device for the rear view monitor have different angles of view. For example, the image pickup range of the image pickup device for the electronic rear-view mirror is located in the peripheral portion of the image pickup range of the image pickup device for the rear view monitor, that is, in an area off the optical axis. In this situation, the angular interval of the image formation position from the optical axis to the edge of the angle of view is constant depending on the optical characteristics of the optical system used. Therefore, when the image pickup device for the rear view monitor and the image pickup device for the electronic rear-view mirror are made common, the resolution of the image for the electronic rear-view mirror may be reduced. Alternatively, in order to ensure the resolution of the image for the electronic rear-view mirror, it was necessary to increase the size of the image pickup surface, that is, the size of the image sensor.

[0005] The present disclosure has been made in consideration of the above, and has an object to obtain a plurality of images with different angles of view in an imaging device mounted on a moving object. [Means for solving the problem]

[0006] In order to achieve the above object, the imaging device of the present disclosure includes an imaging element, an optical system, and , an image processing device; The imaging element includes a plurality of pixels arranged two-dimensionally, and generates image data based on outputs of the plurality of pixels. With a magnification ratio according to the angle of view, Light from a subject field is imaged on the imaging surface of the imaging element. The image processing device generates an image based on the image data. The shape of the imaging surface is a rectangle. The image processing device generates a first image based on a first region of the imaging surface corresponding to a first angle of view, and generates a second image based on a second region of the imaging surface corresponding to a second angle of view that is a peripheral portion of the first angle of view. The optical axis of the optical system on the imaging surface is A given distance in a first direction In an out of place position and located within the second region. do. The optical system is configured such that an angular interval becomes smaller as a first distance from the optical axis increases in the first direction, and such that an angular interval becomes smaller as a second distance from the optical axis increases in a second direction. Effect of the Invention

[0007] According to the present disclosure, it is possible to obtain a plurality of images with different angles of view in an imaging device mounted on a moving object. Note that the effects described herein are not necessarily limited to those described herein, and may be any of the effects described in this specification. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of an automobile to which a display system according to an embodiment is applied. [Diagram 2] FIG. 2 is a diagram showing an example of the configuration of the imaging apparatus of FIG. [Diagram 3] FIG. 3 is a schematic diagram showing an example of the relative positional relationship between the imaging surface of the imaging element and the position at which an image is formed on the imaging surface by the optical system in the imaging device of FIG. [Figure 4] FIG. 4 is a diagram showing an example of the angle of view in the vertical direction of the imaging device of FIG. [Diagram 5] FIG. 5 is a schematic diagram showing another example of the relative positional relationship between the imaging surface of the imaging element and the image formation position on the imaging surface by the optical system in the imaging device of FIG. [Figure 6] FIG. 6 is a schematic diagram showing an example of the configuration of each part in the imaging device of FIG. 1 in the case of a plus offset and in the case of a minus offset. [Figure 7] FIG. 7 is a diagram showing an example of the angle of view in the vertical direction when an imaging device without offset is attached to an automobile. [Figure 8] FIG. 8 is a diagram showing an example of the angle of view in the vertical direction when an imaging device with a plus offset is attached to an automobile. [Figure 9] FIG. 9 is a diagram showing an example of the angle of view in the vertical direction when an imaging device with a negative offset is attached to an automobile. [Figure 10] FIG. 10 is a diagram showing an example of the angle of view in the vertical direction when an imaging device with a negative offset is attached to the front of an automobile. [Figure 11] FIG. 11 is a diagram showing an example of the angle of view in the vertical direction when an imaging device with no offset is attached to the side of an automobile. [Figure 12] FIG. 12 is a diagram showing an example of the angle of view in the vertical direction when an imaging device with a negative offset is attached to the side of an automobile. [Figure 13] FIG. 13 is a diagram showing an example of the angle of view in the vertical direction when an imaging device with a plus offset is attached to the side of an automobile. [Figure 14] FIG. 14 is a diagram showing an example of the angle of view in the vertical direction when an imaging device without offset is attached to a side pillar of an automobile. [Figure 15] FIG. 15 is a diagram showing an example of the angle of view in the vertical direction when an imaging device with a negative offset is attached to a side pillar of an automobile. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[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, components having the same or substantially the same functions as those described above with respect to the previously-mentioned drawings may be given the same reference numerals, and the description may be omitted as appropriate. In addition, even when the same or substantially the same parts are shown, the dimensions and ratios of the components may be different depending on the drawing. In addition, for example, from the viewpoint of ensuring the visibility of the drawings, reference numerals may be given only to the main components in the description of each drawing, and reference numerals may not be given to components having the same or substantially the same functions as those described above with respect to the previously-mentioned drawings.

[0011] The imaging device, imaging system, and display system according to the present disclosure can be used appropriately for various moving objects. The moving object may be, for example, various vehicles such as a bicycle, a motorcycle, an automobile, and a train. The moving object may be a moving object such as a ship or an aircraft. The moving object may be a manned object or an unmanned object. The movement of the moving object may be controlled by a user, or may be autonomously controlled according to a set route, surrounding conditions, and the like.

[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 object.

[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 captures an image of a subject and generates image data. The imaging device 10 is attached to an automobile 200 so as to capture an image in a first imaging direction, for example, toward 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, above the license plate, but is not limited thereto. The imaging device 10 may be disposed on the rear window, the rear bumper, or the like.

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

[0016] The imaging element 121 captures an image formed on an imaging surface via the optical system 122, and generates image data. A plurality of pixels are arranged two-dimensionally, more specifically, in a matrix, on the imaging surface of the imaging element 121. As the imaging element 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. The optical system 122 may include a mirror or a prism that reflects light. The magnification ratio of the image formed by the optical system 122 varies depending on, for example, the angle of view.

[0018] FIG. 3 is a schematic diagram showing an example of the relative positional relationship between the imaging surface 301 of the imaging element 121 and the image formation position on the imaging surface 301 by the optical system 122 in the imaging device 10 of FIG. 1. FIG. 4 is a diagram showing an example of the angle of view in the vertical direction by the imaging device 10 of 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 an area R3 outside the imaging range. FIG. 3 also illustrates an incident position of light from a 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 the sake of simplicity of explanation, but is not limited thereto. Here, the angle of view for the in-vehicle display 40 is an example of the first angle of view. Also, 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 this embodiment is configured such that the position of the optical axis 401 of the optical system 122 on the imaging surface 301 is off from the center 601 of the imaging element 121. Preferably, the position of the optical axis 401 of the optical system 122 on the imaging surface 301 is near a region 315 of the imaging element 121 that is used to generate image data of the electronic rearview mirror 30. 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 a first region. Also, the region 315 is an example of a 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 that is offset from the center 601 of the imaging element 121 by a predetermined angle. The predetermined angle is the difference between the offset between the imaging element 121 and the optical system 122 and a 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 element 121 and the optical system 122 and an elevation angle corresponding to the mounting angle of the imaging device 10.

[0021] In the example shown in Figure 3, the offset is the sum of the distance between the center 601 of the image sensor 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 this disclosure, for the sake of simplicity, 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 is not limited to this. Also, 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 with the horizontal direction 501 is parallel to the imaging surface 301.

[0023] 3 and 4, the offset is, for example, 15 degrees, and the depression angle is, for example, 3 degrees. However, the magnitude of the offset and depression angle are not limited to these values ​​and can be set arbitrarily.

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

[0025] In addition, in the example shown in FIG. 3, in the concentric circles 400 showing the image formation positions at each angle of 10 degrees from the optical axis 401 on the image formation plane, the interval between the circles is smaller as the angle from the optical axis 401 increases. In other words, the optical system 122 according to this embodiment is configured so that the interval between the angles is smaller as the distance from the optical axis 401 increases. Alternatively, the optical system 122 according to this embodiment can be expressed as having a smaller angle change on the image formation plane as the angle of view increases. Here, the wider the interval between the concentric circles 400, the larger the number of pixels on the imaging plane 301 per 10 degrees. Since the higher the pixel density, the higher the spatial frequency can be, the higher the resolution of the field for that angle of view, and therefore the wider the interval between the concentric circles 400, the higher the resolution of the field, i.e., the spatial resolution, in the example shown in FIG. 3.

[0026] In the example shown in FIG. 3, the imaging surface 301 is assumed to have a size of, for example, 3840×2160 (8M) [px]. In this case, if the optical axis 401 is expressed as 0 degrees, light from a region of the field between 0 and 10 degrees can be imaged using 320 [px] pixels. Furthermore, light from a region of the field between 0 and 20 degrees can be imaged using 608 [px] pixels. Furthermore, light from a region of the field between 0 and 30 degrees can be imaged using 835 [px] pixels. Furthermore, light from a region of the field between 0 and 40 degrees can be imaged using 1010 [px] pixels. Furthermore, light from a region of the field between 0 and 50 degrees can be imaged using 1152 [px] pixels. Furthermore, light from a region of the field between 0 and 60 degrees can be imaged using 1265 [px] pixels. Also, light from the 0 to 70 degree region of the field can be imaged using 1373 [px] pixels. Also, light from the 0 to 80 degree region of the field can be imaged using 1459 [px] pixels. Also, light from the 0 to 90 degree region of the field can be imaged using 1535 [px] pixels. In this way, the larger the angle with the optical axis 401, the fewer the number of pixels used to image each angle range.

[0027] 3, the imaging element 121 may have an imaging surface 303 having a smaller number of pixels than the imaging surface 301. The imaging surface 303 has a size of, for example, 2560×1920 (5M) [px]. In this manner, the number of pixels of the imaging element 121 can be set arbitrarily. Here, the imaging surface 303 is an example of a first region.

[0028] In the example shown in FIG. 3, the area 315 is an area of ​​the image pickup element 121 that is used to generate image data for the electronic rear-view mirror 30. The image data of the area 315 captured by the image pickup element 121 is converted by the image processing device 20 (described later) into image data indicated by the area 305, and is supplied to the electronic rear-view mirror 30. The area 305 is an area that corresponds to a 40-degree angle of view in the horizontal direction. The area 305 has a size of, for example, 1206×263 [px]. As illustrated in FIG. 3, the area 317 of the image pickup element 121 may be used to generate image data for the electronic rear-view mirror 30. In this case, the image data of the area 317 captured by the image pickup element 121 is converted by the image processing device 20 (described later) into image data indicated by the area 307, and is supplied to the electronic rear-view mirror 30. The area 307 is an area that corresponds to a 60-degree angle of view in the horizontal direction. The area 307 has a size of, for example, 1912×400 [px]. In this way, it is possible to arbitrarily set the number of pixels in the image pickup element 121 that are used to generate image data of the electronic rear-view mirror 30. Here, the area 317 is an example of the second area.

[0029] In general, the angle of view for rearview is larger than the angle of view for electronic rearview mirror. Also, the shooting range for the rearview mirror is located on the periphery of the shooting range for rearview. In this situation, in the imaging device 10 according to the present embodiment, the magnification ratio of the image by the optical system 122 is changed according to the angle (angle of view) from the optical axis 401, and the optical axis of the optical system 122 is positioned away from the center of the imaging element 121.

[0030] With this configuration, compared to a configuration in which the optical axis of the optical system 122 is located at the center of the imaging element 121, it is possible to use a common imaging device 10 between the electronic rearview mirror 30 and the in-vehicle display 40 without compromising the resolution of the image displayed on the electronic rearview mirror 30. In other words, it is possible to obtain images corresponding to the angle of view for the electronic rearview mirror 30 and the angle of view for the in-vehicle display 40, and to improve the pixel density for the angle of view for the electronic rearview mirror 30.

[0031] The signal processing circuit 131 performs predetermined image processing such as gamma correction and distortion correction on image data from the imaging device 10. The interface 133 outputs the image data that has been signal-processed by the signal processing circuit 131 to the image processing device 20. The interface 133 may be realized by, for example, a circuit.

[0032] The image processing device 20 is a device that processes image data generated by the imaging device 10. For example, the image processing device 20 generates image data to be displayed 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 a first image. Also, the image for the electronic rearview mirror 30 generated by the image processing device 20 is an example of a second image. The image processing device 20 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 equipped with 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 or an organic EL (Electro Luminescence) display. 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 in front of the driver's seat, at the top of the vehicle, and in the center of the vehicle in the horizontal direction. The electronic rearview mirror 30 displays an image (video) of the scene behind the vehicle captured by the imaging device 10. This allows the driver of the automobile 200 to check the situation behind the vehicle from the image in the electronic rearview mirror 30 while the automobile 200 is traveling or stopped.

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

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

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

[0038] The image processing device 20 generates an image to be displayed on the electronic rear-view mirror 30 and the in-vehicle display 40 from the captured image data that has been captured by the imaging device 10 and subjected to predetermined image processing.

[0039] For example, the image processing device 20 performs image processing on the captured image to equalize pixel density. That is, the image processing device 20 interpolates pixels in a sparse pixel area. 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 an area corresponding to the angle of view for rear view from the captured image, and generates a display image for the in-vehicle display 40. The image processing device 20 may generate a display image for the in-vehicle display 40 based on signals from pixels in a predetermined range of the image sensor 121. For example, the image processing device 20 converts the viewpoint of the image of the field of view R2, which corresponds to the angle of view for the in-vehicle display 40, as necessary so that the image of the field of view R2 corresponding to the angle of view for the in-vehicle display 40 becomes an image when looking slightly diagonally 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, and generates a rear view image. The generated rear view image is transmitted to the in-vehicle display 40. The in-vehicle display 40 receives and displays the data of the rear view image from the image processing device 20.

[0041] For example, the image processing device 20 cuts out an image of a region corresponding to the angle of view for the electronic rear-view mirror 30 from the captured image corresponding to the angle of view for the rear view, and generates a display image for the electronic rear-view mirror 30. The image processing device 20 may generate a display image for the electronic rear-view mirror 30 based on signals from pixels in a predetermined range of the image sensor 121. For example, the image processing device 20 converts the viewpoint of the image of the field of view R1 so that the image of the field of view R1 corresponding to the angle of view for the electronic rear-view mirror becomes an image when the rear of the automobile 200 is viewed horizontally from the driver's seat. The image processing device 20 resizes the cut-out image to a size suitable for display on the electronic rear-view mirror 30, and generates an image to be displayed on the electronic rear-view mirror 30. The generated image is transmitted to the electronic rear-view mirror 30. The electronic rear-view mirror 30 receives image data for display from the image processing device 20 and displays it.

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

[0043] The in-vehicle display 40 may display an image obtained by combining images from a plurality of cameras capturing images of the outside of the vehicle. The image obtained by combining images from a plurality of cameras is, for example, an all-directional overhead image.

[0044] In the present embodiment, the electronic rearview mirror 30 used as a rearview mirror is illustrated, but 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 an electronic mirror used as, for example, a door mirror or a fender mirror.

[0045] In the above embodiment, the imaging device 10 capable of obtaining a plurality of images with different angles of view is mounted on a moving body such as an automobile 200. In this case, the angle of view 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 demand for mounting the imaging device 10 in an inconspicuous manner, for example. Alternatively, the mounting angle of the imaging device 10 may be limited due to the layout of wiring in the moving body such as the automobile 200.

[0046] Therefore, hereinafter, an imaging device 10 will be described which can ensure a vertical angle of view for obtaining a wide-angle image for the in-vehicle display 40, regardless of the mounting angle, and can also ensure horizontal resolution for obtaining a high-resolution, clear image for the electronic rearview mirror 30.

[0047] In the above embodiment, as illustrated in FIG. 3, the optical system 122 is configured so that the intervals between the concentric circles 400 indicating the image formation positions on the image formation surface corresponding to each angle for each predetermined angle (for example, 10 degrees) from the optical axis center become smaller as the distance from the optical axis center increases, but the present invention is not limited to this. The optical system 122 may be configured so that the intervals between the concentric circles 400 become larger as the distance from the optical axis center increases. In other words, the optical system 122 may be configured so that the angle intervals become larger as the distance from the optical axis 401 increases. In this case, the optical system 122 can also be expressed as the larger the angle of view, the larger the angle change on the image formation surface. FIG. 5 is a schematic diagram showing another example of the relative position relationship between the imaging surface 301 of the image sensor 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 illustrates the case of a plus offset and the case of a minus offset. Fig. 6 is a schematic diagram showing an example of the configuration of each part in the case of a plus offset and a minus offset in the imaging device 10 of Fig. 1. Figs. 5 and 6 each further illustrate a case without offset as a comparative example.

[0048] The imaging surface 301a indicates the imaging surface 301 without offset. At this time, the center 601a of the imaging surface 301a and the optical axis direction 403 of the optical system 122 coincide with each other, as shown in FIG.

[0049] The imaging surface 301b shows the imaging surface 301 in the case of a negative offset. At this time, as shown in Fig. 5, the center 601b of the imaging surface 301b is located below the optical axis direction 403 of the optical system 122. This makes it possible to improve the pixel density with respect to the angle of view for the electronic rearview mirror 30 located in the peripheral portion of the imaging surface 301, compared to the case without offset.

[0050] The imaging surface 301c shows the imaging surface 301 in the case of a plus offset. In this case, as shown in Fig. 5, the center 601c of the imaging surface 301c is located above the optical axis direction 403 of the optical system 122. This makes it possible to improve the pixel density with respect to the angle of view for the electronic rear-view mirror 30 located in the peripheral portion of the imaging surface 301, compared to the case of no offset, or similar to the case of a minus offset. Of course, the imaging device 10 according to the above-mentioned embodiment can also be configured as a plus offset.

[0051] Whether to use a positive offset or a negative offset may be appropriately selected depending on the mounting position and mounting angle on a moving body such as the automobile 200, wiring arrangement, etc. Fig. 7 is a diagram showing an example of the angle of view in the vertical direction when the imaging device 10a is mounted on the automobile 200 without offset. Fig. 8 is a diagram showing an example of the angle of view in the vertical direction when the imaging device 10c is mounted on the automobile 200 with a positive offset. Fig. 9 is a diagram showing an example of the angle of view in the vertical direction when the imaging device 10b is mounted on the automobile 200 with a negative offset.

[0052] As shown in Fig. 8, in the case of a plus offset, the field of view R2 is located on the upper side of the optical axis direction 403, so that the imaging device 10c can be attached to the automobile 200 at a larger depression angle compared to the case of no offset in Fig. 7. This makes it possible to attach the imaging device 10c to the automobile 200 so as not to be conspicuous. Also, by increasing the depression angle, the wiring between the imaging device 10c and the image processing device 20 can be taken out further upward compared to the case of no offset, so that the space required for arranging the imaging device 10c can also be reduced.

[0053] 9, in the case of negative offset, field of view R2 is located on the lower side of optical axis direction 403, so imaging device 10b can be attached to automobile 200 at a depression angle closer to horizontal direction 501 than in the case of no offset in FIG. 7. This allows imaging device 10b to be mounted by being embedded in the body of automobile 200.

[0054] In the above embodiment, the electronic rearview mirror 30 for checking the rear and the in-vehicle display 40 for displaying the rearview image are illustrated, but the present disclosure is not limited thereto. As shown in FIG. 10, the technology according to the present disclosure can be applied to the in-vehicle display 40 for displaying a scene image in front of the vehicle (hereinafter referred to as a "front view image") and an electronic mirror for checking an arbitrary field of view within the field of view corresponding to the front view image. Alternatively, the technology can be applied to a sensor for detecting an obstacle in an arbitrary field of view within the field of view corresponding to the front view image. FIG. 10 is a diagram showing an example of an angle of view 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 if the imaging device 10 is arranged on the front bumper of the automobile 200, 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 than in the case of no offset. In this case, the imaging device 10b can also capture an image of the area directly below the automobile 200 in front of the automobile 200.

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

[0056] 12, imaging device 10b with negative offset has field of view R2 positioned on the lower side in optical axis direction 403, so imaging device 10b can be attached to automobile 200 at a depression angle closer to horizontal direction 501 than in the case of no offset in FIG. 11. For example, imaging device 10b can be mounted on the side of automobile 200 by embedding it in the body of automobile 200. This makes it possible to image the area directly below automobile 200 with respect to the side of automobile 200.

[0057] 13, in the case of a plus offset, the field of view R2 is located on the lateral side of the optical axis direction 403, so that it can be attached to the mirror of the automobile 200 facing downward, for example, at an angle of 80 degrees. This makes it possible to image the area directly below the automobile 200 and image the area above the horizontal direction 501 with respect to the lateral side of the automobile 200. In addition, when the horizontal direction 501 or the area for the mirror of the automobile 200 is located in the peripheral portion of the optical system 122 away from the optical axis, the pixel density in the peripheral portion of the image sensor 121 used to generate an image for the mirror can be improved by using an optical system 122 with a larger angular interval as it deviates from the optical axis as exemplified in FIG.

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

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

[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, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope of the invention and its equivalents described in the claims, as well as in the scope and spirit of the invention. [Explanation of symbols]

[0061] 10. Imaging device 20 Image processing device 30 Electronic rearview mirror 40 In-vehicle display (rear view) 70 Imaging System 100 Display System 121 Image sensor 122 Optical system 131 Signal Processing Circuit 133 Interface 200 Automobiles (vehicles, moving objects) 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 includes: generating a first image based on a first region of the imaging surface corresponding to a first angle of view; generating a second image based on a second region of the imaging surface corresponding to a second angle of view of a peripheral portion of the first 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 within the second 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 first region is the imaging surface. The imaging device according to claim 1 .

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

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

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

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

Images