Optical devices and imaging devices

Abstract

To provide an optical device and an imaging device that can improve the accuracy of calculating distance and reduce the size of the devices.SOLUTION: An optical device comprises: a first optical element 11 that forms light arriving from a subject 40 into a first image 41 in a range including a first imaging area 31 of an image pick-up device 30 and wider than the first imaging area 31; and a second optical element 21 that forms light arriving from the subject 40 into a second image 42 in a range including a second imaging area 32 of the image pick-up device 30 and wider than the second imaging area 32.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] Conventionally, a system that enables an imaging device to capture both an image for distance calculation and an image for display has been known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When regions for capturing two images for distance calculation are provided in one image sensor, the number of pixels of the images captured in each region decreases. Also, it becomes difficult to widen the angle of the images captured in each region. As a result, the accuracy of distance calculation based on the captured images decreases.

[0005] When the imaging device is configured to include two image sensors in order to increase the number of pixels of the captured image and widen the angle of the captured image, the imaging device becomes large.

[0006] An object of the present disclosure is to provide an optical device and an imaging device that can achieve an improvement in the accuracy of distance calculation and miniaturization of the device.

Means for Solving the Problems

[0007] An optical device according to one embodiment of the present disclosure comprises a first optical element and a second optical element. The first optical element images light arriving from a subject as a first image over a wider area than the first imaging area of ​​the image sensor, which includes the first imaging area. The second optical element images light arriving from the subject as a second image over a wider area than the second imaging area of ​​the image sensor, which includes the second imaging area adjacent to the first imaging area.

[0008] An optical device according to one embodiment of the present disclosure comprises a first optical element, a second optical element, a fifth optical element, and a sixth optical element. The first optical element images light arriving from a subject as a first image over a wider area than the first imaging area of ​​the image sensor, which includes the first imaging area. The second optical element images light arriving from the subject as a second image over a wider area than the second imaging area of ​​the image sensor, which includes the second imaging area. The fifth optical element directs light traveling from the first optical element toward the second imaging area into the first imaging area. The sixth optical element directs light traveling from the second optical element toward the first imaging area into the second imaging area.

[0009] An imaging device according to one embodiment of the present disclosure comprises an image sensor, a first optical system, and a second optical system. The image sensor has an imaging area including a first imaging area and a second imaging area adjacent to the first imaging area. The first optical system has a first optical element that images light arriving from a subject as a first image over a wider area than the first imaging area. The second optical system has a second optical element that images light arriving from the subject as a second image over a wider area than the second imaging area. [Effects of the Invention]

[0010] According to an optical apparatus and imaging apparatus according to one embodiment of the present disclosure, it is possible to improve the accuracy of distance calculation and to miniaturize the apparatus. [Brief explanation of the drawing]

[0011] [Figure 1]This is a side view showing a schematic configuration example of an imaging device according to one embodiment. [Figure 2] This figure shows an example of an image captured by the imaging device shown in Figure 1. [Figure 3] This flowchart shows an example of the procedure for distance measurement based on a reconstructed image generated from a superimposed image. [Figure 4] This figure shows a modified version of the optical element in Figure 1, viewed from a direction perpendicular to the optical axis. [Figure 5] This figure shows the imaging device viewed from a direction perpendicular to the optical axis, illustrating another modification of the optical element shown in Figure 1. [Figure 6] To illustrate yet another modification of the optical element in Figure 1, this is a view of the imaging device from a direction perpendicular to the optical axis. [Figure 7] To illustrate yet another modification of the optical element in Figure 1, this is a view of the imaging device from a direction perpendicular to the optical axis. [Figure 8] To illustrate yet another modification of the optical element in Figure 1, this is a view of the imaging device from a direction perpendicular to the optical axis. [Figure 9] To illustrate yet another modification of the optical element in Figure 1, this is a view of the imaging device from the normal direction of the light-receiving region. [Figure 10] To illustrate yet another modification of the optical element in Figure 1, this is a view of the imaging device from the normal direction of the light-receiving region. [Figure 11] To illustrate yet another modification of the optical element in Figure 1, this is a view of the imaging device from the normal direction of the light-receiving region. [Figure 12] To illustrate yet another modification of the optical element in Figure 1, this is a view of the imaging device from the normal direction of the light-receiving region. [Figure 13] To illustrate yet another modification of the optical element in Figure 1, this is a view of the imaging device from the normal direction of the light-receiving region. [Figure 14] To illustrate yet another modification of the optical element in Figure 1, this is a view of the imaging device from the normal direction of the light-receiving region. [Figure 15] To illustrate yet another modification of the optical element in Figure 1, this is a view of the imaging device from the normal direction of the light-receiving region. [Figure 16] It is a side view showing a schematic configuration example of an imaging device according to another embodiment. [Figure 17] It is a diagram showing an example of a captured image by the imaging device of FIG. 16. [Figure 18] It is a view of the imaging device seen from the normal direction of the light receiving region in order to show still another modification example of the optical element of FIG. 1.

Embodiments for Carrying Out the Invention

[0012] The distance measuring device calculates the distance to each point of the distance measuring object based on the parallax image of the distance measuring object and generates distance data of the distance measuring object. The imaging device 1 (see FIG. 1) according to an embodiment of the present disclosure captures a parallax image of a subject 40 (see FIG. 1) to be a distance measuring object and outputs it to the distance measuring device.

[0013] In distance measurement based on a parallax image, the larger the baseline length, the higher the resolution and accuracy of the distance data. The baseline length corresponds to the interval between the devices that capture the two images constituting the parallax image.

[0014] As a method of capturing a parallax image for generating distance measurement data, for example, a method using a stereo camera can be considered. A stereo camera is a method of performing triangulation with two cameras arranged in parallel. In a stereo camera, the interval between the two cameras corresponds to the baseline length. Therefore, by increasing the baseline length of the stereo camera, the resolution and accuracy of the distance data can be improved. Also, by being able to set the focal length of each of the two cameras, the captured image can be widened. However, when increasing the baseline length in a stereo camera, the device becomes larger by arranging the two cameras apart. Also, calibration of the two cameras becomes necessary.

[0015] One possible method for capturing disparity images to generate distance measurement data is the pupil division method. The pupil division method is a system that constructs a stereo camera within the lens by dividing the pupil of the camera. The device related to the pupil division method can be made smaller compared to a stereo camera because it can be constructed with a single pupil. However, the baseline length is limited by the pupil diameter. As a result, it is difficult to increase the baseline length. Therefore, it is difficult to improve the resolution and accuracy of the distance data. Here, in the pupil division method, one method that can be considered to improve the resolution and accuracy of the distance data is to increase the focal length. However, increasing the focal length makes it difficult to widen the angle of the captured image. In other words, the limitation of the baseline length makes it difficult to widen the angle of the captured image or to improve the resolution and accuracy of the distance data.

[0016] Another method for capturing disparity images to generate distance measurement data is to superimpose the inputs of two pupils and capture the image with a single image sensor. Devices using this method can increase the baseline length and widen the image angle, similar to stereo cameras, and can be composed of fewer image sensors than stereo cameras. However, superimposing the inputs of two pupils requires a special optical design for the optical system. Furthermore, the number of components in the optical system increases. As a result, miniaturization is costly.

[0017] On the other hand, an imaging device 1 according to one embodiment of this disclosure can be realized with a simple and compact configuration while achieving wider-angle imaging of captured images and improved resolution and accuracy of distance data. A specific example of the configuration of the imaging device 1 will be described below.

[0018] (Example configuration of imaging device 1) As shown in Figure 1, an imaging device 1 according to one embodiment of the present disclosure comprises a first optical system 10, a second optical system 20, and an image sensor 30. The first optical system 10 and the second optical system 20 are also referred to as optical devices. The imaging device 1 can capture images of a subject 40 by imaging the subject 40 with the first optical system 10 and the second optical system 20 respectively and capturing the images with the image sensor 30, thereby capturing an image of the image captured by the first optical system 10 and an image of the image captured by the second optical system 20 as a parallax image. The image captured by the first optical system 10 is also referred to as the first image 41. The image captured by the second optical system 20 is also referred to as the second image 42. The image captured of the first image 41 is also referred to as the first image. The image captured of the second image 42 is also referred to as the second image. The parallax image is composed of the first image and the second image.

[0019] <Image sensor 30> The image sensor 30 includes a light-receiving area 30A. The image sensor 30 captures light incident on the light-receiving area 30A. The light-receiving area 30A is also referred to as the imaging area. The image sensor 30 may be capable of capturing images formed by visible light or invisible light such as infrared or ultraviolet light. The image sensor 30 may be composed of, for example, a CCD (Charge Coupled Device) image sensor or a CMOS (Complementary Metal-Oxide-Semiconductor) image sensor. The image sensor 30 may be composed of a color image sensor. The light-receiving area 30A of the image sensor 30 may have multiple pixels. Each pixel may be covered, for example, by an RGB color filter so as to be evenly distributed within the light-receiving area 30A. The image sensor 30 generates an image signal based on an electrical signal output from each pixel according to the amount of light incident on each pixel. The image sensor 30 may generate the image signal at a predetermined frame rate such as 30 fps (frames per second).

[0020] The light-receiving area 30A includes a first light-receiving area 31 and a second light-receiving area 32. The first light-receiving area 31 is also referred to as the first imaging area. The second light-receiving area 32 is also referred to as the second imaging area. The first light-receiving area 31 and the second light-receiving area 32 do not overlap on the light-receiving area 30A. Also, the areas of the first light-receiving area 31 and the second light-receiving area 32 are assumed to be the same. The first light-receiving area 31 and the second light-receiving area 32 may be adjacent. For the sake of explanation, the first light-receiving area 31 and the second light-receiving area 32 are distinguished. In the actual light-receiving area 30A, the first light-receiving area 31 and the second light-receiving area 32 do not necessarily have to be configured to be distinguishable.

[0021] <Optical system> The first optical system 10 includes a first optical element 11. The first optical element 11 has an optical axis 11A. The first optical element 11 forms an image of light or a light beam arriving from the subject 40 in the light-receiving area 30A of the image sensor 30. The light or light beam arriving from the subject 40 travels between two solid lines connecting the subject 40 and the first optical element 11. The first optical system 10 does not necessarily have to include the first optical element 11.

[0022] The first optical element 11 may include at least one lens. The first optical element 11 may include various lenses such as convex lenses or concave lenses. The first optical element 11 may include various mirrors such as convex mirrors, concave mirrors or plane mirrors. The first optical element 11 may include an aperture. The first optical element 11 is not limited to these and may include various other elements.

[0023] The first optical element 11 forms an image of the subject 40 as a first image 41 in the light-receiving area 30A. A portion of the first image 41 is formed in the first light-receiving area 31. A portion of the first image 41 is formed in a portion of the second light-receiving area 32. In other words, the first optical element 11 is configured to form the light or light beam arriving from the subject 40 as a first image 41 over a wider area than the first light-receiving area 31.

[0024] The first optical system 10 does not have to be image-side telecentric. In other words, the angle between the direction of the principal ray of any light beam passing through the first optical system 10 and the optical axis 11A of the first optical element 11 may be greater than 0 degrees. Alternatively, the first optical system 10 may be image-side telecentric. The first optical system 10 may be configured such that the angle between the optical axis 11A of the first optical system 10 and the principal ray of the light beam coming from the subject 40 is different from the angle between the optical axis 11A of the first optical system 10 and the principal ray of the light beam that is imaged as the first image 41. The angle between the optical axis 11A of the first optical system 10 and the principal ray of the light beam coming from the subject 40 may be greater than the angle between the optical axis 11A of the first optical system 10 and the principal ray of the light beam that is imaged as the first image 41.

[0025] The second optical system 20 includes a second optical element 21. The second optical element 21 has an optical axis 21A. The second optical element 21 images light or a light beam arriving from the subject 40 in the light-receiving area 30A of the image sensor 30. The light or light beam arriving from the subject 40 is located inside the two solid lines connecting the subject 40 to the second optical element 21. The light or light beam imaged in the light-receiving area 30A is located inside the two solid lines connecting the second optical element 21 to the light-receiving area 30A. The second optical element 21 may be configured identically to or similarly to the first optical element 11. The second optical system 20 does not need to include the second optical element 21.

[0026] The second optical element 21 forms an image of the subject 40 as a second image 42 in the light-receiving area 30A. A portion of the second image 42 is formed in the second light-receiving area 32. A portion of the second image 42 is formed in a portion of the first light-receiving area 31. In other words, the second optical element 21 is configured to form the light or light beam arriving from the subject 40 as a second image 42 over a wider area than the second light-receiving area 32.

[0027] The second optical system 20 does not have to be image-side telecentric. In other words, the angle between the direction of the principal ray of any light beam passing through the second optical system 20 and the optical axis 21A of the second optical element 21 may be greater than 0 degrees. Alternatively, the second optical system 20 may be image-side telecentric. The second optical system 20 may be configured such that the angle between the optical axis 21A of the second optical system 20 and the principal ray of the light beam coming from the subject 40 is different from the angle between the optical axis 21A of the second optical system 20 and the principal ray of the light beam that is imaged as the second image 42. The angle between the optical axis 21A of the second optical system 20 and the principal ray of the light beam coming from the subject 40 may be greater than the angle between the optical axis 21A of the second optical system 20 and the principal ray of the light beam that is imaged as the second image 42.

[0028] (Example of operation of imaging device 1) The following describes an example of how the imaging device 1 captures a disparity image.

[0029] <Imaging of subject 40> A portion of the first image 41 may be imaged onto the second light-receiving region 32. A portion of the second image 42 may be imaged onto the first light-receiving region 31. In other words, a portion of the first image 41 and a portion of the second image 42 may be superimposed on each other in the region that straddles the boundary between the first light-receiving region 31 and the second light-receiving region 32. The portion of the first image 41 that overlaps with the second image 42 is represented as the first superimposed image 414. The portion of the second image 42 that overlaps with the first image 41 is represented as the second superimposed image 424. The first superimposed image 414 and the second superimposed image 424 are collectively referred to as the superimposed image 44. The portion of the first image 41 that does not overlap with the second image 42 is represented as the first non-superimposed image 411. The portion of the second image 42 that does not overlap with the first image 41 is represented as the second non-superimposed image 421.

[0030] A portion of the light rays that are imaged as the first image 41 may propagate from the first optical element 11 toward the outside of the light-receiving region 30A. The first optical system 10 may further include a third optical element 12. The third optical element 12 reflects the light rays that propagate from the first optical element 11 toward the outside of the light-receiving region 30A and causes them to propagate toward the inside of the light-receiving region 30A. The third optical element 12 may cause at least a portion of the light that propagates toward the outside of the first light-receiving region 31 and the second light-receiving region 32 to propagate toward the inside of the first light-receiving region 31. The third optical element 12 is assumed to be configured as a plane mirror. The light rays reflected by the third optical element 12 are imaged toward the inside of the first light-receiving region 31. The image formed by the light rays reflected by the third optical element 12 corresponds to the image in which the image of the first non-superimposed image 411 that is imaged toward the outside of the first light-receiving region 31 is folded toward the inside of the first light-receiving region 31. The image formed outside the first light-receiving region 31 is represented as the first external image 412. The image folded back inside the first light-receiving region 31 is represented as the first folded image 413.

[0031] A portion of the light rays that are imaged as the second image 42 may propagate from the second optical element 21 toward the outside of the light-receiving region 30A. The second optical system 20 may further include a fourth optical element 22. The fourth optical element 22 reflects the light rays that propagate from the second optical element 21 toward the outside of the light-receiving region 30A and causes them to propagate toward the inside of the light-receiving region 30A. The fourth optical element 22 may cause at least a portion of the light that propagates toward the outside of the first light-receiving region 31 and the second light-receiving region 32 to propagate toward the inside of the second light-receiving region 32. The fourth optical element 22 is assumed to be configured as a plane mirror. The light rays reflected by the fourth optical element 22 are imaged inside the second light-receiving region 32. The image formed by the light rays reflected by the fourth optical element 22 corresponds to the image in which the image of the second non-superimposed image 421 that is imaged toward the outside of the second light-receiving region 32 is folded back toward the inside of the second light-receiving region 32. The image formed outside the second light-receiving region 32 is represented as the second external image 422. The image folded back inside the second light-receiving region 32 is represented as the second folded image 423.

[0032] The image sensor 30 captures the image formed on the light-receiving area 30A and generates an image. The image includes an image of a first non-superimposed image 411, a second non-superimposed image 421, and a superimposed image 44 (the first superimposed image 414 and the second superimposed image 424).

[0033] Furthermore, if the first optical system 10 has a third optical element 12, the captured image further includes an image in which the first folded image 413 is superimposed on the first non-superimposed image 411. If the second optical system 20 has a fourth optical element 22, the captured image further includes an image in which the second folded image 423 is superimposed on the second non-superimposed image 421.

[0034] As illustrated in Figure 2, the captured image may be an image obtained by superimposing a first image 41 and a second image 42. The first image 41 includes a first non-superimposed image 411, a first superimposed image 414, and a first external image 412. The second image 42 includes a second non-superimposed image 421, a second superimposed image 424, and a second external image 422. The image obtained by superimposing the first image 41 and the second image 42 in the superimposed image 44 portion is referred to as the superimposed image 50.

[0035] The superimposed image 50 includes an image of a superimposed image 44 obtained by superimposing the first superimposed image 414 and the second superimposed image 424. The superimposed image 50 also includes an image of a first non-superimposed image 411 and an image of an image obtained by superimposing the first folded image 413 onto a part of the first non-superimposed image 411. The superimposed image 50 also includes an image of a second non-superimposed image 421 and an image obtained by superimposing the second folded image 423 onto a part of the second non-superimposed image 421.

[0036] The width of the first image 41 in the superimposed image 50 is the sum of the width of the superimposed image 44, the width of the first non-superimposed image 411, and the width of the first folded image 413. Here, width refers to the length in the direction in which the first image 41 and the second image 42 are aligned, that is, the length in the left-right direction toward the plane of the paper. The width of the first image 41 is greater than the width of the first light-receiving area 31. Also, the width of the second image 42 in the superimposed image 50 is the sum of the width of the superimposed image 44, the width of the second non-superimposed image 421, and the width of the second folded image 423. The width of the second image 42 is greater than the width of the second light-receiving area 32. As a result, the sum of the widths of the first image 41 and the second image 42 in the superimposed image 50 can be greater than the width of the light-receiving area 30A.

[0037] In the superimposed image 50 illustrated in Figure 2, the third optical element 12 and the fourth optical element 22 are arranged so as to fold the image horizontally toward the plane of the paper, but they may also be arranged so as to fold the image vertically toward the plane of the paper. In other words, the height of the first image 41 or the second image 42 in the superimposed image 50 may be greater than the height of the light-receiving area 30A. Here, height means the length in the direction perpendicular to the direction in which the first image 41 and the second image 42 are aligned, that is, the length in the vertical direction toward the plane of the paper.

[0038] The light-receiving area 30A of the image sensor 30 captures an image formed by the first optical system 10 and the second optical system 20 focusing light or a light beam arriving from the subject 40 onto the light-receiving area 30A. Conversely, the range in which light or a light beam can be imaged by the first optical system 10 and the second optical system 20 in order to be imaged on the light-receiving area 30A corresponds to the field of view of the imaging device 1. The range in which light or a light beam is directly imaged onto the light-receiving area 30A from the first optical system 11 and the second optical system 21 without being reflected by the third optical system 12 and the fourth optical system 22 is also called the direct field of view.

[0039] The imaging device 1 according to this embodiment can capture images by directing light or a light beam incident on the first optical system 10 and the second optical system 20 from outside the field of view toward the light-receiving area 30A using the third optical element 12 and the fourth optical element 22 to form an image. As a result, the field of view can be widened without changing the focal length. Because there is no need to change the focal length, widening the angle of view has little effect on the resolution and accuracy of distance measurement based on the parallax image captured by the imaging device 1.

[0040] <Separation and restoration of superimposed images> An image captured by superimposing a portion of the first image 41 and a portion of the second image 42 can be separated into the first image 41 and the second image 42. An image captured by superimposing the first aliased image 413 onto the first non-superimposed image 411 can be separated into the first aliased image 413 and the first non-superimposed image 411. By concatenating the first external image 412, which is converted from the separated first aliased image 413, onto the first non-superimposed image 411, an image of the first non-superimposed image 411, the first superimposed image 414, and the first external image 412 can be obtained as the captured image of the first image 41.

[0041] Furthermore, an image captured by superimposing the second aliased image 423 onto the second non-superimposed image 421 can be separated into the second aliased image 423 and the second non-superimposed image 421. By concatenating the second external image 422, which is converted from the separated second aliased image 423, onto the second non-superimposed image 421, an image can be obtained as the captured image of the second image 42 that includes the image of the second non-superimposed image 421, the image of the second superimposed image 424, and the image of the second external image 422.

[0042] An image captured by superimposing the first superimposed image 414 and the second superimposed image 424 can be separated into an image of the first superimposed image 414 and an image of the second superimposed image 424 by applying an image processing method such as independent component analysis, wavelet method, or image separation model. The image separation model is a model constructed by, for example, creating an image by superimposing multiple images in advance and training it with multiple ground truth images separated from the previously created image. The image separation model may be a model that applies Pix-to-Pix, which generates paired images reflecting the relationship between a generator that generates images and a discriminator that determines whether the generated image is a fake image, similar to an Encoder-Decoder model.

[0043] The image captured by superimposing the first folded image 413 and the first non-superimposed image 411, and the image captured by superimposing the second folded image 423 and the second non-superimposed image 421, can be separated using the same or a similar method as the method used to separate the first superimposed image 414 and the second superimposed image 424.

[0044] The separated first superimposed image 414 or first folded image 413 can be reconstructed as the first image by joining it with the first non-superimposed image 411. The separated second superimposed image 424 or second folded image 423 can be reconstructed as the second image by joining it with the second non-superimposed image 421.

[0045] An image captured by superimposing images may include areas where no images are superimposed. An image captured by superimposing images may include areas where two images are superimposed. An image captured by superimposing images may include areas where three or more images are superimposed. Even in an image where three or more images are superimposed, each image can be separated, for example, by separating the images one by one.

[0046] The imaging device 1 may further include at least one processor or at least one dedicated circuit for separating images, or a combination thereof. The processor may include a general-purpose processor such as a CPU (Central Processing Unit) or GPU (Graphics Processing Unit), or a dedicated processor specialized for a specific process. The dedicated circuit may include, for example, an FPGA (Field-Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit). The processor may separate the superposition from the superimposed image 50 and output a first image 41 without superposition and a second image 42 without superposition, respectively. The imaging device 1 may output the separated images to the distance measuring device. The imaging device 1 may also reconstruct the image by stitching together the separated images using at least one processor or dedicated circuit, and output the reconstructed image to the distance measuring device.

[0047] The imaging device 1 may output the superimposed images to the distance measuring device without separating them. The distance measuring device may separate the superimposed images from the images acquired from the imaging device 1 and reconstruct the image by stitching the separated images together.

[0048] <Distance measurement based on restored images> As described above, image separation and reconstruction may be performed by the imaging device 1 or by the distance measuring device. The distance measuring device calculates the distance to each point of the subject 40 in the reconstructed image based on the reconstructed image and generates distance data for the subject 40.

[0049] <Example of distance measurement procedure> The image separated and reconstructed from the superimposed image 50 is also called the reconstructed image. Below, the distance measurement process based on the reconstructed image generated from the superimposed image 50 will be explained according to the procedure illustrated in Figure 3. In the following procedure example, the separation and reconstruction of the superimposed image 50, which is captured by superimposing the first superimposed image 414 and the second superimposed image 424, is performed by the processor of the imaging device 1. Furthermore, the distance measurement based on the reconstructed image is performed by the distance measuring device. The superimposed image 50 includes the components of the first superimposed image 414 and the components of the second superimposed image 424. The components of the first superimposed image 414 are also called the first image components. The components of the second superimposed image 424 are also called the second image components.

[0050] The processor of the imaging device 1 separates a second image component from the superimposed image 50 (step S100). The processor generates a first image component by subtracting the second image component separated in step S100 from the superimposed image 50 (step S101). The processor combines the second image component separated in step S100, or the first image component generated in step S101, with the non-superimposed image to generate a reconstructed image (step S102).

[0051] The distance measuring device acquires the reconstructed image generated by the processor of the imaging device 1 in step S102, and uses the reconstructed image to perform distance measurement (calculation of the distance to each point) for each point of the subject 40 that is captured in the reconstructed image (step S103). Based on the distance measurement results performed in step S103, the distance measuring device generates a distance image by mapping the distance to each point of the subject 40 onto the image of the subject 40 (step S104). After the execution of step S104, the execution of the procedure in the flowchart of Figure 3 is completed.

[0052] <Summary> As described above, the imaging device 1 according to this embodiment superimposes at least a portion of the first image 41 and the second image 42 and images them with the image sensor 30, and then separates the superimposed images. In this way, the imaging device 1 can capture an image that is imaged over an area wider than the light-receiving area 30A. Because the imaging device 1 can superimpose and capture two images that constitute parallax, it can reduce the number of image sensors 30 compared to a stereo camera. Furthermore, because the imaging device 1 can capture an image wider than the light-receiving area 30A, the image sensor 30 itself can be miniaturized. As a result, the imaging device 1 can be configured to be smaller than a stereo camera. In other words, wide-angle imaging can be achieved without increasing the size of the image sensor 30.

[0053] Furthermore, in this embodiment, the imaging device 1 is configured such that the first optical system 10 directly focuses the image of the subject 40 onto the first light-receiving area 31 of the image sensor 30, and the second optical system 20 directly focuses the image of the subject 40 onto the second light-receiving area 32. In other words, the imaging device 1 can be made compact by not requiring separate image sensors for the first optical system 10 and the second optical system 20.

[0054] Furthermore, in the imaging device 1 according to this embodiment, the degree of freedom in setting the distance between the first optical system 10 and the second optical system 20, i.e., the baseline length, is higher than in the pupil division method. This higher degree of freedom in setting the baseline length makes it easier to achieve both wider-angle imaging of the captured image and improved resolution and accuracy of the distance data.

[0055] (Other embodiments) Other embodiments of the imaging device 1 are described below.

[0056] <Other forms of reflective surfaces> As shown in Figure 4, the reflective surface of the third optical element 12, which is a mirror, may be tilted with respect to the optical axis 11A so that it is tilted outward toward the first optical element 11. The reflective surface of the fourth optical element 22, which is a mirror, may be tilted with respect to the optical axis 21A so that it is tilted outward toward the second optical element 21. By tilting outward, the field of view of the entire optical device can be widened compared to a configuration in which the reflective surface of the mirror is parallel to the optical axis 11A or 21A.

[0057] In the outward-tilting configuration, the first optical system 10 may include a seventh optical element 14, which is a lens for adjusting the optical path length, located between the first optical element 11 and the third optical element 12. The second optical system 20 may include an eighth optical element 24, which is a lens for adjusting the optical path length, located between the second optical element 21 and the fourth optical element 22. By arranging the seventh optical element 14 or the eighth optical element 24, the amount of deviation of the focus position from the first light-receiving region 31 or the second light-receiving region 32 due to the longer optical path length compared to a configuration in which the reflective surface of the mirror is parallel to the optical axis 11A or 21A can be reduced. In a configuration in which the mirror is a mirror having a surface parallel to the direction perpendicular to the optical axis 11A or 21A, like a planar mirror, the seventh optical element 14 or the eighth optical element 24 may be a cylindrical lens. The seventh optical element 14 or the eighth optical element 24 may be located outside the line representing the principal ray of the light beam passing through the outer edge of the exit pupil of the first optical system 10 or the second optical system 20, as viewed from the optical axis 11A or 21A.

[0058] Furthermore, in the outward-tilting configuration, the first optical system 10 may include a ninth optical element 15, as shown in Figure 5. The second optical system 20 may include a tenth optical element 25. The ninth optical element 15 or the tenth optical element 25 may include, for example, a prism. The first optical system 10 may be configured such that light traveling from the first optical element 11 to the outside of the first light-receiving region 31 is reflected by the third optical element 12, further reflected by the ninth optical element 15, and then travels into the first light-receiving region 31. The second optical system 20 may be configured such that light traveling from the second optical element 21 to the outside of the second light-receiving region 32 is reflected by the fourth optical element 22, further reflected by the tenth optical element 25, and then travels into the second light-receiving region 32. By providing the ninth optical element 15 or the tenth optical element 25, the tilt angle between the mirror and the optical axis 11A or 21A in the outward-tilting configuration can be widened.

[0059] In the outward-tilting configuration, the third optical element 12 or the fourth optical element 22, which is a mirror, may be, for example, a planar mirror, a curved mirror, a DMD (Digital Mirror Device), or a Fresnel mirror.

[0060] As shown in Figure 6, the reflective surface of the third optical element 12, which is a mirror, may be tilted with respect to the optical axis 11A so that it is tilted inward toward the imaging plane side of the first optical element 11. The reflective surface of the fourth optical element 22, which is a mirror, may be tilted with respect to the optical axis 21A so that it is tilted inward toward the imaging plane side of the second optical element 21. By tilting inward, the entire optical device can be made smaller compared to a configuration in which the reflective surface of the mirror is parallel to the optical axis 11A or 21A.

[0061] In the inwardly inclined configuration, the third optical element 12 or the fourth optical element 22, which is a mirror, may include, for example, a planar mirror, a curved mirror as illustrated in Figure 7, a DMD as illustrated in Figure 8, or a Fresnel mirror.

[0062] The reflective surface of the mirror, which is the third optical element 12 or the fourth optical element 22, may be parallel to any side of the rectangular light-receiving area 30A of the image sensor 30. Alternatively, the reflective surface of the mirror, which is the third optical element 12 or the fourth optical element 22, may intersect with any side of the light-receiving area 30A, as shown in Figure 9. In a configuration where the reflective surface of the mirror, which is the third optical element 12 or the fourth optical element 22, intersects with any side of the light-receiving area 30A, the separation accuracy of the image separation model may be improved. In a configuration where the reflective surface of the mirror, which is the third optical element 12 or the fourth optical element 22, intersects with any side of the light-receiving area 30A, the third optical element 12 or the fourth optical element 22 may be positioned such that the overlapping area between the region sandwiched between two lines extending perpendicularly from both ends of the third optical element 12 or the fourth optical element 22 and the light-receiving area 30A is maximized when viewed from the normal direction of the light-receiving area 30A.

[0063] The third optical element 12 may be located outside the exit pupil of the first optical element 11 when viewed from the direction of the optical axis 11A of the first optical system 10. The fourth optical element 22 may be located outside the exit pupil of the second optical element 21 when viewed from the direction of the optical axis 21A of the second optical system 20. More specifically, the third optical element 12 or the fourth optical element 22 may be positioned relative to the first optical element 11 or the second optical element 21 such that its reflective surface is located outside the exit pupil. Alternatively, the third optical element 12 or the fourth optical element 22 may be located inside the exit pupil when viewed from the direction of the optical axis 11A or 21A. In particular, in a configuration where the light-receiving area 30A is smaller than the pupil diameter, the mirror may be located inside the exit pupil.

[0064] The third optical element 12 or the fourth optical element 22 may include a plurality of planar mirrors. Two planar mirrors belonging to at least one pair of the plurality of planar mirrors may be positioned so that their reflective surfaces face each other and are parallel. Alternatively, the plurality of planar mirrors may consist of two planar mirrors, positioned so that their reflective surfaces are perpendicular to each other, as shown in Figure 10. Furthermore, two planar mirrors whose reflective surfaces are perpendicular to each other may be parallel to two mutually perpendicular sides of the rectangular light-receiving region 30A. The planar mirrors and the outer edge of the light-receiving region 30A of the image sensor 30 may be in close contact in the direction normal to the planar mirrors. Alternatively, there may be a gap between the planar mirrors and the outer edge of the light-receiving region 30A, and they may not be in close contact in the direction normal to the planar mirrors.

[0065] In the above description, the third optical element 12 or the fourth optical element 22 is a mirror having a surface parallel to a direction perpendicular to the optical axis 11A or 21A. The third optical element 12 or the fourth optical element 22 may be a mirror having a curved surface when viewed from the direction of the optical axis 11A or 21A. For example, as shown in Figure 11, the third optical element 12 or the fourth optical element 22 may be a pair of curved mirrors provided on a pair of opposite sides of a rectangular light-receiving region 30A when viewed from the normal direction of the light-receiving region 30A. The curved mirrors may be parallel to the normal direction of the light-receiving region 30A. Alternatively, as shown in Figure 12, the third optical element 12 or the fourth optical element 22 may be a mirror having a circular curved surface that encloses the rectangular light-receiving region 30A when viewed from the normal direction of the light-receiving region 30A. Alternatively, the third optical element 12 or the fourth optical element 22 may be a mirror having an elliptical curved surface that encloses the rectangular light-receiving area 30A when viewed from the normal direction of the light-receiving area 30A, as shown in Figure 13. A mirror having an elliptical curved surface is preferred in configurations where the light-receiving area 30A is a rectangle other than a square. Alternatively, the third optical element 12 or the fourth optical element 22 may be a mirror having a circular curved surface that encloses the rectangular light-receiving area 30A when viewed from the normal direction of the light-receiving area 30A, as shown in Figure 14. Alternatively, the third optical element 12 or the fourth optical element 22 may be a mirror having an elliptical curved surface that encloses the rectangular light-receiving area 30A when viewed from the normal direction of the light-receiving area 30A, as shown in Figure 15. In a configuration where the third optical element 12 or the fourth optical element 22 is a mirror having a curved surface enclosed within a rectangular light-receiving region 30A, the gap between the light-receiving region 30A and the mirror can be eliminated when viewed from the normal direction of the light-receiving region 30A. In such a configuration, the continuity of optical information in the superimposed image 50 can be improved compared to a configuration with a gap by eliminating the gap. The third optical element 12 and the fourth optical element 22 illustrated in Figures 12, 13, 14, or 14 may be configured as separate components or as an integrated unit.

[0066] <Configuration with an intermediate mirror> As illustrated in Figure 16, in an imaging device 1 according to one embodiment, the first optical system 10 may further include a fifth optical element 13. The second optical system 20 may further include a sixth optical element 23. The fifth optical element 13 and the sixth optical element 23 are configured as mirrors having reflective surfaces. The fifth optical element 13 and the sixth optical element 23 may be integrally configured as a single double-sided mirror. In other words, the imaging device 1 may include a double-sided mirror consisting of the fifth optical element 13 and the sixth optical element 23. The image sensor 30 cannot receive light in the region where the fifth optical element 13 and the sixth optical element 23 are located. In this case, the light-receiving region 30A of the image sensor 30 includes a first light-receiving region 31, a second light-receiving region 32, and a non-light-receiving region 33. The non-light-receiving region 33 corresponds to the region where the fifth optical element 13 and the sixth optical element 23 are located. In Figure 16, the imaging device 1 does not need to include a third optical element 12. The imaging device 1 does not necessarily have to include the fourth optical element 22.

[0067] The portion of the first image 41 that is imaged outside the first light-receiving region 31 is reflected by the reflective surface of the fifth optical element 13 toward the first light-receiving region 31. The image of the portion of the first image 41 that is imaged toward the first light-receiving region 31 is represented as the third outer image 415. The light or light beam corresponding to the third outer image 415 is reflected by the reflective surface of the fifth optical element 13 and imaged inside the first light-receiving region 31. The image that is reflected by the reflective surface of the fifth optical element 13 and imaged inside the first light-receiving region 31 is represented as the third folded image 416. The fifth optical element 13 may cause the light or light beam traveling from the first optical element 11 toward the second light-receiving region 32 to travel toward the first light-receiving region 31.

[0068] The portion of the second image 42 that is imaged outside the second light-receiving region 32 is reflected by the reflective surface of the sixth optical element 23 toward the second light-receiving region 32. The image of the portion of the second image 42 that is imaged toward the second light-receiving region 32 is represented as the fourth outer image 425. The light or light beam corresponding to the fourth outer image 425 is reflected by the reflective surface of the sixth optical element 23 and imaged inside the second light-receiving region 32. The image that is reflected by the reflective surface of the sixth optical element 23 and imaged inside the second light-receiving region 32 is represented as the fourth folded image 426. The sixth optical element 23 may cause light or light beams traveling from the second optical element 21 toward the first light-receiving region 31 to travel toward the second light-receiving region 32.

[0069] The superimposed image 50 illustrated in Figure 17 includes an image captured when the first optical system 10 has a third optical element 12 and a fifth optical element 13, in which case the image includes an image in which the first folded image 413 and the third folded image 416 are superimposed on the first non-superimposed image 411. Furthermore, when the second optical system 20 has a fourth optical element 22 and a sixth optical element 23, the superimposed image 50 includes an image captured when the second folded image 423 and the fourth folded image 426 are superimposed on the second non-superimposed image 421. On the other hand, the superimposed image 50 does not include an image captured when the first superimposed image 414 and the second superimposed image 424 are superimposed. In addition, the superimposed image 50 may include a blank image represented by black in the portion corresponding to the non-light-receiving region 33.

[0070] By positioning the fifth optical element 13 and the sixth optical element 23 between the first optical element 11 and the second optical element 21, the first image 41 and the second image 42 can be imaged separately. In this way, the first image 41 and the second image 42 can be completely separated.

[0071] <Mirror positional relationship> The reflective surfaces of the third optical element 12 and the fifth optical element 13 may be parallel to the optical axis 11A of the first optical element 11. The reflective surfaces of the third optical element 12 and the fifth optical element 13 may be located outside the exit pupil of the first optical element 11 when viewed in the direction of the optical axis 11A of the first optical element 11. The reflective surfaces of the fourth optical element 22 and the sixth optical element 23 may be parallel to the optical axis 21A of the second optical element 21. The reflective surfaces of the fourth optical element 22 and the sixth optical element 23 may be located outside the exit pupil of the second optical element 21 when viewed in the direction of the optical axis 21A of the second optical element 21.

[0072] The reflective surfaces of the third optical element 12 and the fourth optical element 22 may be in close proximity to or as close as possible to the outer edge of the light-receiving area 30A of the image sensor 30. By bringing the reflective surfaces in close proximity to or close to the outer edge of the light-receiving area 30A, the first image 41 can be captured such that there are no or few blind spots between the first folded image 413 and the first non-superimposed image 411. Similarly, the second image 42 can be captured such that there are no or few blind spots between the second folded image 423 and the second non-superimposed image 421.

[0073] The third optical element 12 and the fifth optical element 13 may be arranged so that their reflective surfaces face each other. The third optical element 12 and the fifth optical element 13 may be arranged so that their reflective surfaces are parallel to each other. The fourth optical element 22 and the sixth optical element 23 may be arranged so that their reflective surfaces face each other. The fourth optical element 22 and the sixth optical element 23 may be arranged so that their reflective surfaces are parallel to each other. The third optical element 12 and the fifth optical element 13 may be arranged so that the distance to the optical axis 11A of the first optical element 11 is equal for both of them. The fourth optical element 22 and the sixth optical element 23 may be arranged so that the distance to the optical axis 21A of the second optical element 21 is equal for both of them.

[0074] The first optical element 11 and the second optical element 21 each have CRA ≤ tan -1The elements may be designed and positioned to satisfy (H / B). CRA is the angle of light rays arriving from a point in the subject 40 at an angle twice the direct angle of view, with respect to the optical axes 11A and 21A. H is the distance from the third optical element 12 and the fifth optical element 13 to the optical axis 11A, and the distance from the fourth optical element 22 and the sixth optical element 23 to the optical axis 21A. B is the back focus of the first optical element 11 and the second optical element 21.

[0075] <Multiple image sensors 30> The imaging device 1 may include a plurality of image sensors 30. As shown in Figure 18, a fifth optical element 13 or a sixth optical element 23 may be provided between two adjacent image sensors 30. By providing a fifth optical element 13 or a sixth optical element 23 between two adjacent image sensors 30, the light or light beam of a subject 40 that would be imaged in the gap between the light-receiving areas 30A of two adjacent image sensors 30 in a configuration without a fifth optical element 13 or a sixth optical element 23 can be imaged by at least one of the image sensors 30.

[0076] The diagrams illustrating the embodiments described herein are schematic. Dimensions and proportions shown in the drawings do not necessarily correspond to actual dimensions.

[0077] While embodiments relating to this disclosure have been described based on the drawings and examples, it should be noted that those skilled in the art can make various modifications or alterations based on this disclosure. Therefore, it should be noted that these modifications or alterations are included within the scope of this disclosure. For example, the functions included in each component can be rearranged in a logically consistent manner, and multiple components can be combined into one or separated. These are also to be understood as being included within the scope of this disclosure.

[0078] All of the constituent elements described in this disclosure, and / or all of the disclosed methods or steps of processing, can be combined in any combination except for any combination in which these features are mutually exclusive. Furthermore, each of the features described in this disclosure can be replaced by an alternative feature that works for the same, equivalent, or similar purposes, unless expressly disregarded. Thus, unless expressly disregarded, each of the disclosed features is merely an example of a comprehensive set of identical or equivalent features.

[0079] Furthermore, the embodiments relating to this disclosure are not limited to any specific configuration of the embodiments described above. The embodiments relating to this disclosure can be extended to all novel features or combinations thereof described herein, or all novel methods or processing steps or combinations thereof described herein.

[0080] In this disclosure, the designations "First," "Second," etc., are identifiers used to distinguish the configurations. Configurations distinguished by the designations "First," "Second," etc., in this disclosure may have their numbers swapped. For example, the first optical system 10 may swap the identifiers "First" and "Second" with the second optical system 20. The swapping of identifiers occurs simultaneously. The configurations remain distinguishable even after the swapping of identifiers. Identifiers may be deleted. Configurations from which identifiers have been deleted are distinguished by codes. The designations "First," "Second," etc., in this disclosure should not be used alone to interpret the order of the configurations or to justify the existence of smaller numbered identifiers.

[0081] While embodiments of the imaging method using the imaging device 1 have been described above, embodiments of the present disclosure can also include not only methods or programs for implementing the device, but also a storage medium on which the program is recorded (for example, an optical disc, magneto-optical disc, CD-ROM, CD-R, CD-RW, magnetic tape, hard disk, or memory card).

[0082] Furthermore, the implementation form of the program is not limited to application programs such as object code compiled by a compiler or program code executed by an interpreter, but may also be in the form of a program module embedded in an operating system. In addition, the program may or may not be configured so that all processing is performed only on the CPU on the control board. The program may also be configured so that some or all of its processing is performed by another processing unit implemented on an expansion board or expansion unit attached to the board, as needed.

[0083] In one embodiment, (1) the optical device is A first optical element that forms a first image from light arriving from a subject over a wider area than the first imaging area of ​​the image sensor, including the first imaging area, A second optical element that forms a second image of light arriving from the subject, over a wider area than the first imaging region of the image sensor, including the second imaging region adjacent to the first imaging region. It is equipped with.

[0084] (2) In the optical apparatus described in (1) above, a portion of the first image may be imaged in the second imaging area. A portion of the second image may be imaged in the first imaging area.

[0085] (3) The optical apparatus described in (1) or (2) above is A third optical element that directs at least a portion of the light traveling from the first optical element toward the outside of the first and second imaging regions toward the first imaging region, A fourth optical element that directs at least a portion of the light traveling from the second optical element toward the outside of the second and first imaging regions toward the second imaging region, Further preparations may be made.

[0086] (4) The optical apparatus referred to in (1) above or in (3) referring to (1) above is A fifth optical element that causes light traveling from the first optical element toward the second imaging region to move toward the first imaging region, A sixth optical element that causes light traveling from the second optical element toward the first imaging region to move toward the second imaging region, and Further preparations may be made.

[0087] In one embodiment, (5) the optical device is A first optical element that forms a first image of light arriving from a subject over a wider area than the first imaging area of ​​the image sensor, including the first imaging area of ​​the image sensor, A second optical element that forms a second image of light arriving from the subject, over a wider area than the second imaging region of the image sensor, including the second imaging region, as a second image. A fifth optical element that causes light traveling from the first optical element toward the second imaging region to move toward the first imaging region, A sixth optical element that causes light traveling from the second optical element toward the first imaging region to move toward the second imaging region, and It is equipped with.

[0088] In one embodiment, (6) the imaging device is An image sensor having an imaging region including a first imaging region and a second imaging region adjacent to the first imaging region, A first optical system having a first optical element that forms a first image of light arriving from a subject over a wider area than the first imaging area, A second optical system having a second optical element that images light arriving from the subject as a second image over a wider area than the second imaging area, It is equipped with.

[0089] (7) In the imaging apparatus described in (6) above, a portion of the first image may be imaged in the second imaging region. A portion of the second image may be imaged in the first imaging region.

[0090] (8) The imaging device described in (6) or (7) above is A third optical element that directs at least a portion of the light traveling from the first optical element toward the outside of the imaging region toward the inside of the first imaging region, A fourth optical element that directs at least a portion of the light traveling from the second optical element toward the outside of the imaging region toward the inside of the second imaging region. Further preparations may be made.

[0091] (9) The imaging device referred to in (8) above, which is based on (6) or (7) above, A fifth optical element that causes light traveling from the first optical element toward the second imaging region to move toward the first imaging region, A sixth optical element that causes light traveling from the second optical element toward the first imaging region to move toward the second imaging region, and Further preparations may be made.

[0092] (10) The imaging device described in (9) above may have a double-sided mirror comprising the fifth optical element and the sixth optical element.

[0093] (11) In the imaging apparatus described in (9) or (10) above, the fifth optical element and the sixth optical element may be positioned between the optical axis of the first optical element and the optical axis of the second optical element. The fifth optical element may have a reflective surface parallel to the optical axis of the first optical element. The sixth optical element may have a reflective surface parallel to the optical axis of the second optical element.

[0094] (12) In any one of the imaging devices described in (9) to (11) above, which references (8) above, the third optical element and the fourth optical element may be configured as mirrors. The reflective surface of the third optical element and the reflective surface of the fifth optical element may be configured to face each other. The reflective surface of the fourth optical element and the reflective surface of the sixth optical element may be configured to face each other.

[0095] (13) In any one imaging device described in (6) to (12) above, the image sensor may output a superimposed image that includes at least one of the following: an image in which a part of the first image and a part of the second image are superimposed; an image in which a part of the first image is superimposed with another part of the first image; or an image in which a part of the second image is superimposed with another part of the second image.

[0096] (14) The imaging device described in (13) above may further include a processor that separates the superposition from the superimposed image and outputs a first image without superposition and a second image without superposition, respectively. [Explanation of Symbols]

[0097] 1. Imaging device 10. First optical system (11: first optical element, 11A: optical axis, 12: third optical element, 13: fifth optical element, 14: seventh optical element, 15: ninth optical element) 20. Second optical system (21: second optical element, 21A: optical axis, 22: fourth optical element, 23: sixth optical element, 24: eighth optical element, 25: tenth optical element) 30 Image sensor (30A: light-receiving area, 31: first light-receiving area, 32: second light-receiving area, 33: non-light-receiving area) 40 Subjects 41 1st image (411: 1st non-superimposed image, 412: 1st external image, 413: 1st folded image, 414: 1st superimposed image, 415: 3rd external image, 416: 3rd folded image) 42 2nd image (421: 2nd non-superimposed image, 422: 2nd external image, 423: 2nd folded image, 424: 2nd superimposed image, 425: 4th external image, 426: 4th folded image) 44 Superimposed images 50 superimposed images

Claims

1. A first optical element that forms a first image of light arriving from a subject over a wider area than the first imaging region of the image sensor, including the first imaging region, A second optical element that forms a second image of light arriving from the subject, over a wider area than the first imaging region of the image sensor, including the second imaging region adjacent to the first imaging region, as a second image; A third optical element that directs at least a portion of the light traveling from the first optical element toward the first and second imaging regions toward the first imaging region, A fourth optical element that directs at least a portion of the light traveling from the second optical element toward the outside of the second and first imaging regions toward the second imaging region, An optical device equipped with the following features.

2. The optical apparatus according to claim 1, wherein a portion of the first image is imaged in the second imaging region, and a portion of the second image is imaged in the first imaging region.

3. A fifth optical element that causes light traveling from the first optical element toward the second imaging region to move toward the first imaging region, A sixth optical element that causes light traveling from the second optical element toward the first imaging region to move toward the second imaging region, and The optical apparatus according to claim 1, further comprising the following:

4. A first optical element that forms a first image of light arriving from a subject over a wider area than the first imaging region of the image sensor, including the first imaging region, A second optical element that forms a second image of light arriving from the subject, over a wider area than the second imaging region of the image sensor, including the second imaging region, as a second image. A fifth optical element that causes light traveling from the first optical element toward the second imaging region to move toward the first imaging region, A sixth optical element that causes light traveling from the second optical element toward the first imaging region to move toward the second imaging region, and An optical device equipped with the following features.

5. An image sensor having an imaging region including a first imaging region and a second imaging region adjacent to the first imaging region, A first optical system having a first optical element that forms a first image of light arriving from a subject over a wider area than the first imaging area, A second optical system having a second optical element that images light arriving from the subject as a second image over a wider area than the second imaging area, A third optical element that directs at least a portion of the light traveling from the first optical element toward the outside of the imaging region toward the inside of the first imaging region, A fourth optical element that directs at least a portion of the light traveling from the second optical element toward the outside of the imaging region toward the inside of the second imaging region. Equipped with, Imaging device.

6. The imaging apparatus according to claim 5, wherein a portion of the first image is imaged in the second imaging region, and a portion of the second image is imaged in the first imaging region.

7. A fifth optical element that causes light traveling from the first optical element toward the second imaging region to move toward the first imaging region, The imaging apparatus according to claim 5, further comprising a sixth optical element that causes light traveling from the second optical element toward the first imaging region to move toward the second imaging region.

8. The imaging apparatus according to claim 7, comprising a double-sided mirror consisting of the fifth optical element and the sixth optical element.

9. The fifth optical element and the sixth optical element are located between the optical axis of the first optical element and the optical axis of the second optical element. The fifth optical element has a reflective surface parallel to the optical axis of the first optical element, The imaging apparatus according to claim 7, wherein the sixth optical element has a reflective surface parallel to the optical axis of the second optical element.

10. The third optical element and the fourth optical element are configured as mirrors. The reflective surface of the third optical element and the reflective surface of the fifth optical element are configured to face each other. The imaging apparatus according to claim 7, wherein the reflective surface of the fourth optical element and the reflective surface of the sixth optical element are configured to face each other.

11. The imaging apparatus according to any one of claims 5 to 10, wherein the image sensor outputs a superimposed image that includes at least one of an image in which a part of the first image and a part of the second image are superimposed, an image in which a part of the first image is superimposed with another part of the first image, or an image in which a part of the second image is superimposed with another part of the second image.

12. The imaging apparatus according to claim 11, further comprising a processor that separates the superposition from the superimposed image and outputs a first image without superposition and a second image without superposition, respectively.

Images