Imaging device

Abstract

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

Description

Technical Field

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

Background Art

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

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

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

[0005] This disclosure has been made in view of the above, and aims to obtain multiple images with different angles of view using an imaging device mounted on a mobile body. [Means for solving the problem]

[0006] To achieve the above objective, the imaging apparatus of this disclosure comprises an image sensor, an optical system, and an image processing device. The image sensor has a plurality of pixels arranged two-dimensionally, and generates image data based on the output of the plurality of pixels. The optical system forms an image of light from the field of view onto the imaging surface of the image sensor at a magnification ratio corresponding to the angle of view. The image processing device generates an image based on the image data. The shape of the imaging surface is rectangular. The image processing device generates the image based on a region within the imaging surface corresponding to the angle of view. The optical axis of the optical system on the imaging surface is located at a predetermined distance from the center of the imaging surface in a first direction, and is located within the region. The optical system increases as the first distance from the optical axis increases in the first direction. Field of view of the aforementioned imaging device The spacing between them is configured to become smaller, and the second distance from the optical axis increases in the second direction, Field of view of the aforementioned imaging device It is configured so that the intervals between them become smaller. [Effects of the Invention]

[0007] According to this disclosure, an imaging device mounted on a moving object can obtain multiple images with different fields of view. The effects described herein are not necessarily limited, and any of the effects described herein may be used. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 shows an example of the configuration of an automobile to which the display system according to the embodiment is applied. [Figure 2] Figure 2 shows an example of the configuration of the imaging device shown in Figure 1. [Figure 3]Figure 3 is a schematic diagram showing an example of the relationship between the relative positions of the imaging surface of the image sensor and the image formation position on the imaging surface by the optical system in the imaging device shown in Figure 1. [Figure 4] Figure 4 shows an example of the field of view in the vertical direction using the imaging device shown in Figure 1. [Figure 5] Figure 5 is a schematic diagram showing another example of the relative positional relationship between the imaging surface of the image sensor and the image formation position on the imaging surface by the optical system in the imaging device shown in Figure 1. [Figure 6] Figure 6 is a schematic diagram showing an example of the configuration of each part in the imaging device of Figure 1 in the case of positive offset and the case of negative offset. [Figure 7] Figure 7 shows an example of the vertical field of view when an imaging device without offset is mounted on a car. [Figure 8] Figure 8 shows an example of the vertical field of view when an imaging device with a positive offset is mounted on a car. [Figure 9] Figure 9 shows an example of the vertical field of view when an imaging device with a negative offset is mounted on a car. [Figure 10] Figure 10 shows an example of the vertical field of view when the imaging device is mounted on the front of a vehicle with a negative offset. [Figure 11] Figure 11 shows an example of the vertical field of view when the imaging device is mounted on the side of a vehicle without offset. [Figure 12] Figure 12 shows an example of the vertical field of view when the imaging device is mounted on the side of a vehicle in the case of negative offset. [Figure 13] Figure 13 shows an example of the vertical field of view when the imaging device is mounted on the side of a vehicle in the case of positive offset. [Figure 14] Figure 14 shows an example of the vertical field of view when the imaging device is mounted on the side pillar of a car without offset. [Figure 15]FIG. 15 is a diagram showing an example of an angle of view in the vertical direction when an imaging device in the case of a negative offset is attached to a pillar on the side of an automobile. Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of an imaging device, an imaging system, and a display system according to the present disclosure will be described with reference to the drawings.

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

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

[0012] <0​​​​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 a subject to generate image data. The imaging device 10 is attached to the automobile 200 so as to capture, for example, a first imaging direction facing the rear of the vehicle. For example, the imaging device 10 is disposed at the rear 201 of the automobile 200. Here, the rear 201 of the automobile 200 is, for example, but not limited to, the upper part of the license plate. The imaging device 10 may be disposed on the rear glass or the rear bumper.

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

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

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

[0018] Figure 3 is a schematic diagram showing an 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 Figure 1. Figure 4 is a diagram showing an example of the field of view in the vertical direction by the imaging device 10 of Figure 1. Figure 4 illustrates the field of view R1 corresponding to the field of view for the electronic rearview mirror 30, the field of view R2 corresponding to the field of view for the in-vehicle display 40, and the area R3 outside the shooting range. Figure 3 also illustrates the incident position of light from the horizontal direction 501 when the imaging device 10 is mounted on the automobile 200 as illustrated in Figure 4. Here, for the sake of simplicity of explanation, each side of the imaging surface 301 is assumed to be arranged along the horizontal direction 501 or the vertical direction 503, but is not limited to this. Here, the field of view for the in-vehicle display 40 is an example of the first field of view. The field of view for the electronic rearview mirror 30 is an example of the second field of view.

[0019] As shown in Figure 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 offset from the center 601 of the image sensor 121. Preferably, the position of the optical axis 401 of the optical system 122 on the imaging surface 301 is near the region 315 of the image sensor 121 used for generating 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, and 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 plane 301 is at a predetermined angle from the center 601 of the image sensor 121. This predetermined angle is the difference between the offset between the image sensor 121 and the optical system 122 and the depression angle corresponding to the mounting angle of the imaging device 10. Alternatively, this predetermined angle is the sum of the offset between the image sensor 121 and the optical system 122 and the elevation angle corresponding to the mounting angle of the imaging device 10.

[0021] In the example shown in 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] For the sake of simplicity, in this disclosure, 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 definition. Furthermore, 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 plane 301.

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

[0024] The optical system 122 images light from the field of view at positions on the imaging surface 301 corresponding to the angle of the optical system 122 with respect to the optical axis 401. Figure 3 illustrates concentric circles 400 formed by connecting the incident positions of the optical axis 401 of the optical system 122 on the imaging surface 301, i.e., the image formation positions on the imaging surface 301 corresponding to angles of 10 degrees from the center of the optical axis. For example, in the example of Figure 3, light from the field of view within the angular range DU (see Figure 4), from a direction approximately 20 degrees upward from the horizontal direction 501, can be incident on the imaging surface 301. Similarly, light from the field of view within the angular range DLU (see Figure 4), from a direction approximately 90 degrees downward from the optical axis 401 in the horizontal direction 501, can be incident on the imaging surface 301.

[0025] Furthermore, in the example shown in Figure 3, the concentric circles 400, which indicate the imaging positions at 10-degree intervals from the optical axis 401 on the imaging plane, have smaller intervals between circles as the angle from the optical axis 401 increases. In other words, the optical system 122 according to this embodiment is configured such that the angle intervals become smaller as the distance from the optical axis 401 increases. Alternatively, the optical system 122 according to this embodiment can be described as having smaller angle changes on the imaging plane as the angle of view increases. Here, the wider the spacing of the concentric circles 400, the larger the number of pixels on the imaging surface 301 per 10 degrees. Since a higher pixel density allows for a higher spatial frequency, the wider the spacing of the concentric circles 400, the higher the resolution of the field of view for that angle of view. That is, in the example shown in Figure 3, the closer the optical system 122 is to the optical axis 401, the higher the resolution of the field of view, i.e., the spatial resolution.

[0026] In the example shown in Figure 3, the imaging surface 301 is assumed to be, for example, 3840 × 2160 (8M) [px] in size. In this case, if the optical axis 401 is represented as 0 degrees, light from the 0 to 10 degree region of the field of view can be imaged using 320 [px] pixels. Light from the 0 to 20 degree region of the field of view can be imaged using 608 [px] pixels. Light from the 0 to 30 degree region of the field of view can be imaged using 835 [px] pixels. Light from the 0 to 40 degree region of the field of view can be imaged using 1010 [px] pixels. Light from the 0 to 50 degree region of the field of view can be imaged using 1152 [px] pixels. Light from the 0 to 60 degree region of the field of view can be imaged using 1265 [px] pixels. Furthermore, light from the 0-70 degree range of the field of view can be imaged using 1373 pixels. Light from the 0-80 degree range of the field of view can be imaged using 1459 pixels. Light from the 0-90 degree range of the field of view can be imaged using 1535 pixels. Thus, as the angle with the optical axis 401 increases, the number of pixels used to image each angular range decreases.

[0027] As illustrated in Figure 3, the image sensor 121 may be an imaging surface 303 with a smaller number of pixels than the imaging surface 301. The imaging surface 303 may, for example, have a size of 2560 × 1920 (5M) [px]. Thus, the number of pixels of the image sensor 121 can be arbitrarily set. Here, the imaging surface 303 is an example of the first region.

[0028] In the example shown in Figure 3, region 315 is the region of the image sensor 121 used for generating image data for the electronic rearview mirror 30. The image data of region 315 captured by the image sensor 121 is converted into image data shown in region 305 by the image processing device 20 described later, and supplied to the electronic rearview mirror 30. Region 305 is the region corresponding to a 40-degree field of view in the horizontal direction. Region 305 is, for example, 1206 × 263 [px] in size. As illustrated in Figure 3, region 317 of the image sensor 121 may also be used for generating image data for the electronic rearview mirror 30. In this case, the image data of region 317 captured by the image sensor 121 is converted into image data shown in region 307 by the image processing device 20 described later, and supplied to the electronic rearview mirror 30. Region 307 is the region corresponding to a 60-degree field of view in the horizontal direction. Region 307 is, for example, 1912 × 400 [px] in size. Thus, the number of pixels in the image sensor 121 used for generating image data for the electronic rearview mirror 30 can be set arbitrarily. Here, region 317 is an example of a second region.

[0029] Generally, the field of view for the rear view is larger than that for the electronic rearview mirror. Also, the shooting range for the rearview mirror is located in the peripheral part of the shooting range for the rear view. In this embodiment, the imaging device 10 changes the magnification of the image by the optical system 122 according to the angle (field of view) from the optical axis 401, and the optical axis of the optical system 122 is positioned off-center from the center of the image sensor 121.

[0030] With this configuration, compared to a configuration where the optical axis of the optical system 122 is located at the center of the image sensor 121, a common imaging device 10 can be used 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, images corresponding to the field of view for the electronic rearview mirror 30 and the field of view for the in-vehicle display 40 can be obtained, and the pixel density related to the field of view for the electronic rearview mirror 30 can be improved.

[0031] The signal processing circuit 131 applies predetermined image processing, such as gamma correction and distortion correction, to the image data from the imaging device 10. The interface 133 outputs the image data processed by the signal processing circuit 131 to the image processing device 20. The interface 133 may be implemented, for example, by 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 for display on the electronic rearview mirror 30 and the in-vehicle display 40, respectively. Here, the image for the in-vehicle display 40 generated by the image processing device 20 is an example of a first image. 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), ROM (Read Only Memory), and 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 images generated by the image processing device 20.

[0034] The electronic rearview mirror 30 comprises a display device and a drive circuit. The display device is a liquid crystal display panel or an organic EL (Electro Luminescence) display, etc. 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 positioned in front of the driver's seat, on the upper part of the vehicle, and in the center of the vehicle in the horizontal direction. The electronic rearview mirror 30 displays images (videos) of the scene behind the vehicle captured by the imaging device 10. As a result, the driver of the automobile 200 can check the situation behind the vehicle by looking at the images on the electronic rearview mirror 30 while the automobile 200 is moving or stopped.

[0035] The in-vehicle display 40 comprises a display device and a drive circuit. The display device is a liquid crystal display panel or an organic EL display, etc. The drive 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 maps, route guidance, radio station selection, and various settings. The in-vehicle display 40 also functions as a parking assist device. For example, when the vehicle 200 is reversing, the in-vehicle display 40 displays an image of the scene behind the vehicle (hereinafter referred to as "rear view image") captured by the imaging device 10. By checking the rear view image (video) when the vehicle 200 is reversing, the driver can understand the situation behind the vehicle and safely reverse the vehicle.

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

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

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

[0039] For example, the image processing device 20 equalizes the density of pixels by applying image processing to the captured image. In other words, the image processing device 20 interpolates pixels in areas where pixels are sparse. For example, the image processing device 20 applies distortion correction processing to the captured image so that the image looks natural.

[0040] For example, the image processing device 20 extracts an image from the captured image that corresponds to the field of view for the rear view and generates a display image for the in-vehicle display 40. Alternatively, the image processing device 20 may generate the display image for the in-vehicle display 40 based on signals from a predetermined range of pixels of the image sensor 121. For example, the image processing device 20 may, if necessary, transform the viewpoint of the field of view R2 image so that the image of the field of view R2 corresponding to the field of view for the in-vehicle display 40 is an image of the vehicle 200 viewed from directly behind and slightly diagonally downward. The image processing device 20 resizes the extracted 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 the rear view image data from the image processing device 20 and displays it.

[0041] For example, the image processing device 20 extracts an image from the captured image corresponding to the field of view for the rearview mirror 30, and generates a display image for the electronic rearview mirror 30. Alternatively, the image processing device 20 may generate the display image for the electronic rearview mirror 30 based on signals from a predetermined range of pixels on the image sensor 121. For example, the image processing device 20 transforms the viewpoint of the field of view R1 image so that the image of the field of view R1 corresponding to the field of view for the electronic rearview mirror becomes an image of what it would look like to see directly behind the car 200 from the driver's seat. The image processing device 20 resizes the extracted image to a size suitable for display on the electronic rearview mirror 30 and generates an image for display on the electronic rearview mirror 30. The generated image is transmitted to the electronic rearview mirror 30. The electronic rearview mirror 30 receives the display image data from the image processing device 20 and displays it.

[0042] As described above, the display system 100 according to this embodiment can generate multiple images with different field of view and image resolution using a single imaging device 10 mounted on a moving object such as an automobile 200. For example, the display system 100 according to this embodiment can obtain a high-resolution, sharp image for the electronic rearview mirror 30 and a wide-angle image for the in-vehicle display 40 using a common imaging device 10.

[0043] The in-vehicle display 40 may also display an image that is a composite of images from multiple cameras that capture images outside the vehicle. An image that is a composite of images from multiple cameras is, for example, an all-around overhead view.

[0044] In this embodiment, an electronic rearview mirror 30 used as a rearview mirror is given as an example, but the invention is not limited thereto. The technology described herein is not limited to the electronic rearview mirror 30, but can also be applied to electronic mirrors used as, for example, door mirrors or fender mirrors.

[0045] In the above embodiment, an example was given of mounting an imaging device 10, which can obtain multiple images with different angles of view, on a moving object 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 object such as the automobile 200. On the other hand, when mounting the imaging device 10 on a moving object such as an automobile 200, there is a need to mount the imaging device 10 inconspicuously, for example. Alternatively, the mounting angle of the imaging device 10 may be limited by the routing of wiring on the moving object such as the automobile 200.

[0046] Therefore, the following describes an imaging device 10 that can secure a vertical field of view for obtaining a wide-angle image for the in-vehicle display 40, regardless of the mounting angle, and secure a horizontal resolution for obtaining a high-resolution, clear image for the electronic rearview mirror 30.

[0047] In the above-described embodiment, as illustrated in Figure 3, an optical system 122 was provided in which the spacing between concentric circles 400 indicating the image formation position on the imaging plane corresponding to each angle (e.g., 10 degrees) from the optical axis center decreases as the distance from the optical axis center increases. However, the optical system 122 is not limited to this configuration. The optical system 122 may be configured such that the spacing between the concentric circles 400 increases as the distance from the optical axis center increases. In other words, the optical system 122 may be configured such that the angle spacing increases as the distance from the optical axis 401 increases. In this case, it can also be said that the optical system 122 exhibits a larger angle change on the imaging plane as the field of view increases. Figure 5 is a schematic diagram showing another example of the relationship between the relative position of the imaging surface 301 of the image sensor 121 and the image formation position on the imaging surface 301 by the optical system 122 in the imaging device 10 of Figure 1. Figure 5 illustrates the cases of positive offset and negative offset. Figure 6 is a schematic diagram showing examples of the configuration of each part in the imaging device 10 of Figure 1 in the case of positive offset and negative offset. Figures 5 and 6 further illustrate the case without offset as comparative examples.

[0048] Image plane 301a shows image plane 301 without offset. In this case, as shown in Figure 5, the center 601a of image plane 301a coincides with the optical axis direction 403 of the optical system 122.

[0049] Image plane 301b shows image plane 301 in the case of negative offset. In this case, as shown in Figure 5, the center 601b of image plane 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 field of view for the electronic rearview mirror 30 located in the peripheral part of image plane 301 compared to the case without offset.

[0050] The imaging surface 301c shows the imaging surface 301 in the case of positive offset. In this case, as shown in Figure 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 field of view for the electronic rearview mirror 30 located in the peripheral part of the imaging surface 301, compared to the case without offset, or similar to the case of negative offset. Of course, the imaging device 10 according to the above embodiment can also be configured as a positive offset.

[0051] Whether to use a positive or negative offset can be appropriately selected depending on the mounting position and angle on a moving object such as a vehicle 200, the routing of the wiring, etc. Figure 7 shows an example of the field of view in the vertical direction when the imaging device 10a is mounted on a vehicle 200 without offset. Figure 8 shows an example of the field of view in the vertical direction when the imaging device 10c is mounted on a vehicle 200 with a positive offset. Figure 9 shows an example of the field of view in the vertical direction when the imaging device 10b is mounted on a vehicle 200 with a negative offset.

[0052] As shown in Figure 8, in the case of positive offset, the field of view R2 is located on the upper side of the optical axis direction 403, so the imaging device 10c can be mounted on the automobile 200 at a larger depression angle compared to the case without offset in Figure 7. This makes it possible to mount the imaging device 10c on the automobile 200 in an inconspicuous manner. In addition, by increasing the depression angle, the wiring between the imaging device 10c and the image processing device 20 can be routed further upward compared to the case without offset, thus reducing the space required for the placement of the imaging device 10c.

[0053] Furthermore, as shown in Figure 9, in the case of a negative offset, the field of view R2 is located on the lower side of the optical axis direction 403, so the imaging device 10b can be mounted on the automobile 200 at a depression angle closer to the horizontal direction 501 compared to the case without offset in Figure 7. This allows the imaging device 10b to be embedded and mounted in the body of the automobile 200.

[0054] In the above-described embodiment, an electronic rearview mirror 30 for rearward confirmation and an in-vehicle display 40 for displaying a rearview image are given as examples, but the invention is not limited to these. As shown in Figure 10, the technology relating to this disclosure can also be applied to an in-vehicle display 40 that displays a scene image of the area in front of the vehicle (hereinafter referred to as "front view image") and an electronic mirror for checking any field of view within the field of view corresponding to the front view image. Alternatively, it can be applied to a sensor for detecting obstacles in any field of view within the field of view corresponding to the front view image. Figure 10 is a diagram showing an example of the vertical field of view when the imaging device 10b in the case of negative offset is mounted in front of the automobile 200. As shown in Figure 10, in the case of negative offset, even when the imaging device 10 is placed on the front bumper of the automobile 200, the imaging device 10b can be embedded and mounted in the body of the automobile 200 at a downward angle of depression closer to the horizontal 501 compared to the case without offset. In this case, the imaging device 10b can also capture images of the area directly below the automobile 200 in front of the automobile 200.

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

[0056] As shown in Figure 12, the negative-offset imaging device 10b has its field of view R2 located on the lower side of the optical axis direction 403. Therefore, compared to the case without offset in Figure 11, the imaging device 10b can be mounted on the automobile 200 at a depression angle closer to the horizontal direction 501. For example, the imaging device 10b can be embedded and mounted in the body of the automobile 200 on the side of the automobile 200. This makes it possible to image the area directly below the automobile 200 on the side of the automobile 200.

[0057] Furthermore, as shown in Figure 13, in the case of a positive offset, the field of view R2 is located on the side of the optical axis direction 403, so it can be mounted, for example, on the mirror of the automobile 200 at an angle downward, such as 80 degrees. This allows imaging to be taken of the area directly below the automobile 200, as well as the area above the horizontal direction 501, with respect to the side of the automobile 200. Also, if the area for the mirror of the automobile 200 is off the optical axis and located in the peripheral part of the optical system 122, the pixel density in the peripheral part of the image sensor 121 used to generate the mirror image can be improved by using an optical system 122 with a larger angular spacing the further it is off the optical axis, as illustrated in Figure 5.

[0058] Furthermore, the imaging device 10 according to this disclosure can also be embedded in the pillar of the automobile 200. Figure 14 shows an example of the field of view in the vertical direction when the imaging device 10a without offset is mounted on the side pillar of the automobile 200. Figure 14 illustrates the case where the imaging device 10a without offset is placed on the A pillar of the automobile 200 at a depression angle of -20 degrees, i.e., an elevation angle of 20 degrees. Figure 15 shows an example of the field of view in the vertical direction when the imaging device 10b with negative offset is mounted on the side pillar of the automobile 200. Figure 15 illustrates the case where the imaging device 10b with negative offset is placed 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 Figure 14, in the case without 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 Figure 15, in the case of a negative offset, the field of view R2 is located on the lower side of the optical axis direction 403, so imaging can be performed down to the vicinity of the vehicle 200.

[0059] As described above, the imaging device, imaging system, and display system relating to this disclosure make it possible to obtain multiple images with different fields of view in the imaging device 10 mounted on a moving object such as an automobile 200.

[0060] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of symbols]

[0061] 10 Imaging device 20 Image Processing Devices 30 Electronic rearview mirror 40. In-car display (rear view) 70 Imaging Systems 100 Display Systems 121 Image sensor 122 Optical system 131 Signal Processing Circuits 133 Interfaces 200 Automobiles (vehicles, mobile devices) 201 Rear

Claims

1. An image sensor having multiple pixels arranged in a two-dimensional manner and generating image data based on the output of the multiple pixels, An optical system that forms an image of light from the field of view on the imaging surface of the image sensor at a magnification ratio corresponding to the angle of view, An imaging apparatus comprising an image processing device that generates an image based on the image data, The shape of the imaging surface is rectangular. The image processing device generates the image based on the region within the imaging plane corresponding to the field of view. The optical axis of the optical system on the imaging surface is located at a predetermined distance from the center of the imaging surface in a first direction, and is located within the region. The optical system described above is The imaging device is configured such that the spacing of the field of view angles decreases as the first distance from the optical axis increases in the first direction. The imaging device is configured such that the spacing of the field of view angles decreases as the second distance from the optical axis increases in the second direction. Imaging device.

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

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

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

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

6. When the imaging device is installed in a vehicle, the field of view is the field of view for an electronic rearview mirror mounted in the vehicle. The imaging apparatus according to claim 1.

7. The size of the field of view is negatively correlated with the number of pixels used in the image. The imaging apparatus according to claim 1.

8. The aforementioned image sensor is a solid-state image sensor. The imaging apparatus according to claim 1.

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

10. The aforementioned image processing apparatus comprises a processor and memory, The imaging apparatus according to claim 1.

Images