Stereo camera

Abstract

This stereo camera 100 comprises: a first camera unit 2 provided with a first optical element 21 and a first imaging element 22 that acquires, as a first image, an image formed by the first optical element 21; a first gyro sensor 3 that detects, as first attitude information, the attitude of the first imaging element 22; a second camera unit 4 provided with a second optical element 41 and a second imaging element 42 that acquires, as a second image, an image formed by the second optical element 41; a second gyro sensor 5 that detects, as second attitude information, the attitude of the second imaging element 42; a first attitude adjustment mechanism 6 that adjusts the attitude of the first camera unit 2; and a control unit 8 that controls the first attitude adjustment mechanism 6 to adjust the attitude of the first camera unit 2 on the basis of the first attitude information and the second attitude information such that the attitude of the first imaging element 22 becomes a predetermined attitude with respect to the attitude of the second imaging element 42.

Description

Stereo camera

[0001] The present invention relates to a stereo camera.

[0002] A stereo camera that generates stereoscopic image data or panoramic image data based on images captured by two cameras is described in Patent Document 1. The stereo camera of Patent Document 1 includes a first camera and a second camera disposed at a fixed distance from each other, and a CPU that generates stereoscopic image data based on images captured by the first and second cameras. If an installation error occurs between the first and second cameras, the images captured by the first and second cameras will differ in size and orientation, preventing the stereo camera from capturing natural stereoscopic image data. Therefore, the stereo camera is calibrated to capture natural stereoscopic image data. In the stereo camera of Patent Document 1, the CPU generates correction parameters corresponding to image misalignment caused by installation error between the first and second cameras, and calibrates the stereo camera by correcting the captured images using the correction parameters.

[0003] JP 2012-216981 A

[0004] When calibration is performed by CPU processing, as in the stereo camera of Patent Document 1, the CPU processing takes time, and when the captured image is corrected using correction parameters, the load on the CPU increases, resulting in a problem of increased current consumption.

[0005] In view of the above problems, an object of the present invention is to provide a stereo camera that can reduce the load on the processing unit when calibrating the stereo camera and easily correct the positional deviation between the two cameras.

[0006] In order to solve the above problem, the stereo camera of the present invention is characterized by comprising: a first camera unit including a first optical element and a first imaging element that acquires an image formed by the first optical element as a first image; a first gyro sensor that detects the attitude of the first imaging element as first attitude information; a second camera unit including a second optical element and a second imaging element that acquires an image formed by the second optical element as a second image; a second gyro sensor that detects the attitude of the second imaging element as second attitude information; a first attitude adjustment mechanism that adjusts the attitude of the first camera unit; and a control unit that controls the first attitude adjustment mechanism to adjust the attitude of the first camera unit based on the first attitude information and the second attitude information so that the attitude of the first imaging element becomes a predetermined attitude with respect to the attitude of the second imaging element.

[0007] Fig. 1 is a perspective view of the appearance of the stereo camera of this embodiment. Fig. 2 is a schematic cross-sectional view taken along line A-A in Fig. 1. Fig. 3 is a schematic cross-sectional view taken along line B-B in Fig. 2. Fig. 4 is a block diagram of the stereo camera.

[0008] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a stereo camera to which the present invention is applied will be described with reference to the drawings.

[0009] (Embodiment 1) Fig. 1 is an external perspective view of a stereo camera 100 according to this embodiment. Fig. 2 is a schematic cross-sectional view taken along line A-A in Fig. 1. Fig. 3 is a schematic cross-sectional view taken along line B-B in Fig. 2. Fig. 4 is a block diagram of the stereo camera 100.

[0010] 1 is capable of acquiring stereoscopic image data or panoramic image data based on image data captured by two camera units 2 and 4 attached to a main body 10. In this embodiment, the stereoscopic camera 100 acquires stereoscopic image data.

[0011] As shown in Figures 1 to 3, the stereo camera 100 includes a first camera unit 2, a first gyro sensor 3 attached to the first camera unit 2, a second camera unit 4, a second gyro sensor 5 attached to the second camera unit 4, a first attitude adjustment mechanism 6 that adjusts the attitude of the first camera unit 2, a second attitude adjustment mechanism 7 that adjusts the attitude of the second camera unit 4, a third gyro sensor 9 attached to the main body 10, and a control unit 8.

[0012] The first camera unit 2 is attached to a fixed portion 11A provided on the main body 10 via a first attitude adjustment mechanism 6. The second camera unit 4 is attached to a fixed portion 11B provided on the main body 10 via a second attitude adjustment mechanism 7.

[0013] In the following description, the three mutually orthogonal axes are referred to as the X-axis, Y-axis, and Z-axis. One side of the X-axis is referred to as the X1 direction, and the other side as the X2 direction. One side of the Y-axis is referred to as the Y1 direction, and the other side as the Y2 direction. One side of the Z-axis is referred to as the Z1 direction, and the other side as the Z2 direction. The X-axis is an axial direction along the first optical axis L1 of the first camera unit 2 and the second optical axis L2 of the second camera unit 4. The X1 direction is the object side of the stereo camera 100, and the X2 direction is the image side of the stereo camera 100.

[0014] The first camera unit 2 includes a first camera module 20 and a holder 15A that holds the first camera module 20. The first camera module 20 faces in the X1 direction. The first camera module 20 includes a first optical element 21 such as a lens, and a first image capture element 22 that is disposed on a first optical axis L1 of the first optical element 21. The first image capture element 22 is a CCD element or the like, and captures an image formed by the first optical element 21 as a first image. The holder 15A is a frame-shaped member into which the first camera module 20 fits. As shown in FIG. 3 , in this embodiment, the holder 15A has a rectangular shape when viewed from the direction of the first optical axis L1.

[0015] The second camera unit 4 includes a second camera module 40 and a holder 15B that holds the second camera module 40. The second camera module 40 is located in the Y2 direction of the first camera module 20 and faces the X1 direction. The second camera module 40 includes a second optical element 41, such as a lens, and a second image sensor 42 that is disposed on a second optical axis L2 of the second optical element 41. The second image sensor 42 is a CCD element or the like, and captures an image formed by the second optical element 41 as a second image. The holder 15B is a frame-shaped member into which the second camera module 40 fits. As shown in FIG. 3 , in this embodiment, the holder 15B is rectangular when viewed from the direction of the second optical axis L2. Note that in this embodiment, the second camera unit 4 has the same configuration as the first camera unit 2.

[0016] 2, the first gyro sensor 3 is attached to the holder 15A and detects the attitude of the first image sensor 22 as first attitude information. The second gyro sensor 5 is attached to the holder 15B and detects the attitude of the second image sensor 42 as second attitude information. The third gyro sensor 9 detects the attitude of the main body 10 as third attitude information.

[0017] As shown in Figures 2 and 3, the first attitude adjustment mechanism 6 includes a first swing support mechanism 61 that swingably supports the first camera unit 2, a first rotation support mechanism 62 that supports the first camera unit 2 rotatably around the first optical axis L1 of the first optical element 21, a first swing correction drive mechanism 63 that swings the first camera unit 2, and a first rotation correction drive mechanism 64 that generates a magnetic force that rotates the first camera unit 2 around the first optical axis L1.

[0018] The first swing support mechanism 61 is a gimbal mechanism. The first swing support mechanism 61 supports the first camera unit 2 rotatably about a first axis R1 that intersects with the first optical axis L1, and also supports the first camera unit 2 rotatably about a second axis R2 that intersects with the first optical axis L1 and the first axis R1. The first axis R1 and the second axis R2 are perpendicular to each other. In this embodiment, the first camera unit 2 swings about the Y axis and the Z axis by combining the rotation about the first axis R1 and the rotation about the second axis R2.

[0019] As shown in Figure 3, the first swing support mechanism 61 includes a first swing support part 811 arranged at two locations spaced apart in the direction of the first axis R1, a second swing support part 812 arranged at two locations spaced apart in the direction of the second axis R2, and a movable frame 813 supported by the first swing support part 811 and the second swing support part 812.

[0020] The first swing support member 811 includes a first fulcrum member 814, a first receiving member 816, and a sphere 818. The first fulcrum members 814 are provided on both diagonal sides of the movable frame 813 in the direction of the first axis R1, and protrude in the direction of the first axis R1 and extend in the X2 direction. The first receiving member 816 is fixed to a leg 827 of a second member 822, which will be described later. The sphere 818 is fixed to the tip of the first fulcrum member 814, and is rotatably fitted into a recess provided in the first receiving member 816.

[0021] The second swing support part 812 includes a second fulcrum part 815, a second receiving part 817, and a sphere 818. The second fulcrum parts 815 are provided on both diagonal sides of the movable frame 813 in the direction of the second axis R2, and protrude in the direction of the second axis R2 and extend in the X2 direction. The second receiving part 817 is fixed to the fixed part 11A. The sphere 818 is fixed to the tip of the second fulcrum part 815 and is rotatably fitted into a recess provided in the second receiving part 817.

[0022] 2, the first rotation support mechanism 62 includes a first member 821 fixed to the holder 15A, a second member 822 supported by the first swing support mechanism 61 so as to be rotatable about the first axis R1, and a rotation mechanism 823 that allows the first member 821 and the second member 822 to rotate relatively about the first optical axis L1. The second member 822 is frame-shaped and includes a pair of legs 827 extending in the X2 direction from both sides in the direction of the first axis R1. The legs 827 are located outside corners of the holder 15A at diagonal positions in the direction of the first axis R1. A first receiving portion 816 is fixed to the tip of each of the legs 827. The rotation mechanism 823 includes a first annular groove 824 provided in an annular shape in the first member 821, a second annular groove 825 provided in an annular shape in the second member 822, and a plurality of rolling elements 826 inserted into the first annular groove 824 and the second annular groove 825 and rolling between the first member 821 and the second member 822.

[0023] The first rotation support mechanism 62 includes a pressure applying mechanism (not shown) that applies a force that brings the first member 821 and the second member 822 closer to each other in the X-axis direction. The pressure applying mechanism applies a force that brings the first member 821 and the second member 822 closer to each other in the X-axis direction, for example, by magnetic force. As a result, the first camera unit 2 is supported by the first swing support mechanism 61 via the first rotation support mechanism 62. In addition, the first camera unit 2 and the fixed part 11A of the main body 10 are connected via the first swing support mechanism 61.

[0024] 3, the first shaking correction drive mechanism 63 includes a first coil 831 fixed to a portion of the fixed part 11A in the Y2 direction, a first magnet 832 facing the first coil 831 and fixed to the holder 15A, a second coil 833 fixed to a portion of the fixed part 11A in the X1 direction, and a second magnet 834 facing the second coil 833 and fixed to the holder 15A. By driving the first coil 831 and the second coil 833, the first shaking correction drive mechanism 63 causes the first camera unit 2 to swing around the Y axis and the Z axis.

[0025] 3, the first rotation correction drive mechanism 64 includes a coil 841 fixed to a portion of the fixed part 11A in the X1 direction, and a magnet 842 fixed to the holder 15A and facing the coil 841. By driving the coil 841, the first rotation correction drive mechanism 64 rotates the first camera unit 2 about the first optical axis L1.

[0026] As shown in Figures 2 and 3, the second attitude adjustment mechanism 7 includes a second swing support mechanism 71 that swingably supports the second camera unit 4, a second rotation support mechanism 72 that supports the second camera unit 4 rotatably around the second optical axis L2 of the second optical element 41, a second swing correction drive mechanism 73 that swings the second camera unit 4, and a second rotation correction drive mechanism 74 that generates a magnetic force that rotates the second camera unit 4 around the second optical axis L2.

[0027] The second oscillating support mechanism 71 is a gimbal mechanism. The second oscillating support mechanism 71 supports the second camera unit 4 rotatably about a third axis R3 that intersects with the second optical axis L2, and also supports the second camera unit 4 rotatably about a fourth axis R4 that intersects with the second optical axis L2 and the third axis R3. The third axis R3 and the fourth axis R4 are perpendicular to each other. In this embodiment, the second camera unit 4 is oscillated about the Y axis and the Z axis by combining the rotation about the third axis R3 and the rotation about the fourth axis R4.

[0028] The second swing support mechanism 71 has the same configuration as the first swing support mechanism 61. Therefore, the second swing support mechanism 71 is given the same reference numeral as the first swing support mechanism 61, and a description thereof will be omitted.

[0029] The second rotation support mechanism 72, the second swing correction drive mechanism 73, and the second rotation correction drive mechanism 74 have the same configuration as the first rotation support mechanism 62, the first swing correction drive mechanism 63, and the first rotation correction drive mechanism 64. Therefore, the second rotation support mechanism 72, the second swing correction drive mechanism 73, and the second rotation correction drive mechanism 74 are given the same reference numerals as the first rotation support mechanism 62, the first swing correction drive mechanism 63, and the first rotation correction drive mechanism 64, and descriptions thereof will be omitted.

[0030] The second swing correction drive mechanism 73 swings the second camera unit 4 around the Y axis and the Z axis by driving the first coil 831 and the second coil 833. The second rotation correction drive mechanism 74 rotates the second camera unit 4 around the second optical axis L2 by driving the coil 841.

[0031] As shown in Figure 4, the control unit 8 controls the first attitude adjustment mechanism 6 to adjust the attitude of the first camera unit 2 and controls the second attitude adjustment mechanism 7 to adjust the attitude of the second camera unit 4 based on the detection results of the first gyro sensor 3, the second gyro sensor 5, and the third gyro sensor 9.

[0032] First, when the stereo camera 100 is first used or shipped, the control unit 8 performs calibration of the stereo camera and sets initial positions of the attitude of the first image sensor 22 of the first camera unit 2 and the attitude of the second image sensor 42 of the second camera unit 4. Based on the second attitude information detected by the second gyro sensor 5 and the third attitude information detected by the third gyro sensor 9, the control unit 8 controls the second attitude adjustment mechanism 7 to adjust the attitude of the second camera unit 4 so that the attitude of the second image sensor 42 of the second camera unit 4 becomes a predetermined attitude with respect to the main body 10. In this embodiment, the predetermined attitude with respect to the main body 10 is the designed attitude of the second image sensor 42 with respect to the main body 10. As a result, the initial position of the attitude of the second image sensor 42 becomes the designed attitude with respect to the main body 10.

[0033] Next, the control unit 8 controls the first attitude adjustment mechanism 6 to adjust the attitude of the first camera unit 2 based on the first attitude information detected by the first gyro sensor 3 and the second attitude information detected by the second gyro sensor 5 so that the attitude of the first image sensor 22 of the first camera unit 2 becomes a predetermined attitude relative to the attitude of the second image sensor 42 of the second camera unit 4. In this embodiment, the predetermined attitude relative to the attitude of the second image sensor 42 of the second camera unit 4 is the same as the attitude of the second image sensor 42. In other words, the tilts of the first image sensor 22 and the second image sensor 42 and their rotational positions about the optical axes L1 and L2 are the same. As a result, the initial position of the attitude of the first image sensor 22 becomes the same as the attitude of the second image sensor 42. As a result, the stereo camera 100 can acquire first and second images that can generate natural stereoscopic image data.

[0034] Next, when the stereo camera 100 is in use, the control unit 8 controls the first attitude adjustment mechanism 6 to correct image blur of the first image sensor 22 based on the first attitude information detected by the first gyro sensor 3, and controls the second attitude adjustment mechanism 7 to correct image blur of the second image sensor 42 based on the second attitude information detected by the second gyro sensor 5. At this time, the first attitude adjustment mechanism 6 corrects image blur of the first image sensor 22, using the initial position of the attitude of the first image sensor 22 as the origin position. Also, the second attitude adjustment mechanism 7 corrects image blur of the second image sensor 42, using the initial position of the attitude of the second image sensor 42 as the origin position. The control unit 8 generates stereoscopic image data based on the first image acquired by the first image sensor 22 and the second image acquired by the second image sensor 42. This allows the stereoscopic camera 100 to acquire stereoscopic image data with image blur corrected.

[0035] (Operation and Effect) In the stereo camera 100 of this embodiment, the control unit 8 controls the first attitude adjustment mechanism 6 to adjust the attitude of the first camera unit 2 based on the first attitude information of the first image sensor 22 detected by the first gyro sensor and the second attitude information of the second image sensor 42 detected by the second gyro sensor 5 so that the attitude of the first image sensor 22 is the same as the attitude of the second image sensor 42, which is a predetermined attitude with respect to the attitude of the second image sensor 42. As a result, when calibrating the stereo camera 100, the stereo camera 100 can easily adjust the positional misalignment of the first image sensor 22 of the first camera unit 2 with respect to the second image sensor 42 of the second camera unit 4 by the first attitude adjustment mechanism 6. As a result, the stereo camera 100 can acquire first and second images from which natural stereoscopic image data can be generated. Therefore, when the control unit 8 generates stereoscopic image data, correction processing of the first and second images is not necessary, and the load on the control unit 8 can be reduced.

[0036] The first attitude adjustment mechanism 6 includes a first swing support mechanism 61 that supports the first camera unit 2 rotatably about a first axis R1 that intersects with the first optical axis L1 of the first optical element 21 and that supports the first camera unit 2 rotatably about a second axis R2 that intersects with the first optical axis L1 and the first axis R1, and a first swing correction drive mechanism 63 that generates a magnetic force that rotates the first camera unit 2 about the first axis R1 and the second axis R2. This allows the first attitude adjustment mechanism 6 to easily swing the first camera unit 2 by means of the magnetic force.

[0037] The first attitude adjustment mechanism 6 includes a first rotation support mechanism 62 that supports the first camera unit 2 rotatably about the first optical axis L1, and a first rotation correction drive mechanism 64 that generates a magnetic force that rotates the first camera unit 2 about the first optical axis L1. This enables the first attitude adjustment mechanism 6 to easily rotate the first camera unit 2 by means of the magnetic force.

[0038] The stereo camera 100 of this embodiment includes a second attitude adjustment mechanism 7 that adjusts the attitude of the second camera unit 4. The control unit 8 controls the first attitude adjustment mechanism 6 to correct image blur of the first image sensor 22 based on the first attitude information, and also controls the second attitude adjustment mechanism 7 to correct image blur of the second image sensor 42 based on the second attitude information. This allows the stereo camera 100 to acquire stereoscopic image data with image blur corrected.

[0039] The second attitude adjustment mechanism 7 includes a second swing support mechanism 71 that supports the second camera unit 4 rotatably about a third axis R3 intersecting the second optical axis L2 and that supports the second camera unit 4 rotatably about a fourth axis R4 intersecting the second optical axis L2 and the third axis R3, and a second swing correction drive mechanism 73 that generates a magnetic force that rotates the second camera unit 4 about the third axis R3 and the fourth axis R4. This enables the second attitude adjustment mechanism 7 to easily swing the second camera unit 4 by means of the magnetic force.

[0040] The second attitude adjustment mechanism 7 includes a second rotation support mechanism 72 that supports the second camera unit 4 rotatably about the second optical axis L2 of the second optical element 41, and a second rotation correction drive mechanism 74 that generates a magnetic force that rotates the second camera unit 4 about the second optical axis L2. This enables the second attitude adjustment mechanism 7 to easily rotate the second camera unit 4 by means of the magnetic force.

[0041] Stereo camera 100 of this embodiment includes main body 10 to which first camera unit 2 is attached via first attitude adjustment mechanism 6 and second camera unit 4 is attached via second attitude adjustment mechanism 7, and third gyro sensor 9 that detects the attitude of main body 10 as third attitude information. Control unit 8 controls second attitude adjustment mechanism 7 to adjust the attitude of second camera unit 4 based on the second attitude information and the third attitude information so that the attitude of second image sensor 42 becomes a predetermined attitude with respect to main body 10, and also controls first attitude adjustment mechanism 6 to adjust the attitude of first camera unit 2 based on the first attitude information and the second attitude information so that the attitude of first image sensor 22 becomes the same as the attitude of second image sensor 42 adjusted by the second attitude adjustment mechanism. In this way, stereo camera 100 can adjust the attitude of first camera unit 2 with respect to main body 10 and can adjust the attitude of second camera unit 4 with respect to first camera unit 2.

[0042] (Modification) In the above embodiment, the stereo camera 100 includes the second attitude adjustment mechanism 7 and the third gyro sensor 9. However, a stereo camera according to a modification does not need to include the second attitude adjustment mechanism 7 and the third gyro sensor 9. Even in such a case, the attitude of the first image capture element 22 and the attitude of the second image capture element 42 can be made the same. Therefore, when the control unit 8 generates stereoscopic image data, correction processing of the first image and the second image due to a misalignment between the attitudes of the first image capture element 22 and the second image capture element 42 is not required. As a result, the stereo camera according to the modification can reduce the load on the control unit 8.

[0043] In the above embodiment, when the stereo camera 100 is calibrated, the orientation of the first image sensor 22 is the same as the orientation of the second image sensor 42. However, in a modified example, the orientation of the first image sensor 22 may be different from the orientation of the second image sensor 42. For example, in order for the stereo camera 100 to acquire panoramic image data, the orientation of the first image sensor 22 may be a predetermined orientation that is tilted relative to the orientation of the second image sensor 42.

[0044] In the stereo camera of the modified example, the first attitude adjustment mechanism 6 does not need to include the first rotation support mechanism 62 and the first rotation correction drive mechanism 64. Furthermore, the second attitude adjustment mechanism 7 does not need to include the second rotation support mechanism 72 and the second rotation correction drive mechanism 74. In this case, although the rotational positions of the first image sensor 22 and the second image sensor 42 about the optical axes L1 and L2 cannot be matched, the tilts of the first image sensor 22 and the second image sensor 42 can be matched. Therefore, when the control unit 8 generates stereoscopic image data, correction processing of the first image and the second image due to a misalignment in the tilts of the first image sensor 22 and the second image sensor 42 is not required. As a result, the stereo camera of the modified example can reduce the load on the control unit 8.

[0045] The stereo camera of the modified example may include a shift mechanism that moves the first camera unit 2 and the second camera unit 4 in the Y-axis direction and the Z-axis direction relative to the main body 10. This allows the stereo camera of the modified example to adjust the distance between the first camera unit 2 and the second camera unit 4 in the Y-axis direction and the positional deviation in the Z-axis direction.

[0046] It should be noted that the first attitude adjustment mechanism 6 is not limited to the configuration described above. The first attitude adjustment mechanism 6 may have any configuration as long as it can adjust the attitude of the first camera unit 2. Similarly, the second attitude adjustment mechanism 7 is not limited to the configuration described above. The second attitude adjustment mechanism 7 may have any configuration as long as it can adjust the attitude of the second camera unit 4. Furthermore, the first attitude adjustment mechanism 6 may have a different configuration from the second attitude adjustment mechanism 7.

[0047] The present technology can be configured as follows.

[0048] (1) A stereo camera comprising: a first camera unit including a first optical element and a first image capture element that captures an image formed by the first optical element as a first image; a first gyro sensor that detects an attitude of the first image capture element as first attitude information; a second camera unit including a second optical element and a second image capture element that captures an image formed by the second optical element as a second image; a second gyro sensor that detects an attitude of the second image capture element as second attitude information; a first attitude adjustment mechanism that adjusts the attitude of the first camera unit; and a control unit that controls the first attitude adjustment mechanism to adjust the attitude of the first camera unit based on the first attitude information and the second attitude information so that the attitude of the first image capture element becomes a predetermined attitude with respect to the attitude of the second image capture element.

[0049] (2) The stereo camera according to (1), wherein the predetermined orientation is the same as the orientation of the second image sensor.

[0050] (3) The stereo camera described in (1) or (2) is characterized in that the first attitude adjustment mechanism includes a first swing support mechanism that supports the first camera unit rotatably around a first axis that intersects with a first optical axis of the first optical element and supports the first camera unit rotatably around a second axis that intersects with the first optical axis and the first axis, and a first swing correction drive mechanism that generates a magnetic force that rotates the first camera unit around the first axis and the second axis.

[0051] (4) The stereo camera according to (3), wherein the first attitude adjustment mechanism includes a first rotation support mechanism that supports the first camera unit rotatably around the first optical axis, and a first rotation correction drive mechanism that generates a magnetic force that rotates the first camera unit around the first optical axis.

[0052] (5) The stereo camera according to any one of (1) to (4), further comprising a second attitude adjustment mechanism that adjusts the attitude of the second camera unit, wherein the control unit controls the first attitude adjustment mechanism to correct image blur of the first image sensor based on the first attitude information, and controls the second attitude adjustment mechanism to correct image blur of the second image sensor based on the second attitude information.

[0053] (6) The stereo camera described in (5) is characterized in that the second attitude adjustment mechanism includes a second swing support mechanism that supports the second camera unit rotatably around a third axis that intersects with the second optical axis of the second optical element and supports the second camera unit rotatably around a fourth axis that intersects with the second optical axis and the third axis, and a second swing correction drive mechanism that generates a magnetic force that rotates the second camera unit around the third axis and the fourth axis.

[0054] (7) The stereo camera according to (6), wherein the second attitude adjustment mechanism includes a second rotation support mechanism that supports the second camera unit rotatably around the second optical axis, and a second rotation correction drive mechanism that generates a magnetic force that rotates the second camera unit around the second optical axis.

[0055] (8) The stereo camera according to any one of (5) to (7), further comprising: a main body to which the first camera unit is attached via a first attitude adjustment mechanism and to which the second camera unit is attached via a second attitude adjustment mechanism; and a third gyro sensor that detects an attitude of the main body as third attitude information, wherein the control unit controls the second attitude adjustment mechanism to adjust the attitude of the second camera unit based on the second attitude information and the third attitude information so that the attitude of the second image sensor becomes a predetermined attitude with respect to the main body, and controls the first attitude adjustment mechanism to adjust the attitude of the first camera unit based on the first attitude information and the second attitude information so that the attitude of the first image sensor becomes the same attitude as the attitude of the second image sensor adjusted by the second attitude adjustment mechanism.

[0056] 100...stereo camera, 2...first camera unit, 3...first gyro sensor, 4...second camera unit, 5...second gyro sensor, 6...first attitude adjustment mechanism, 6...first attitude adjustment mechanism, 7...second attitude adjustment mechanism, 8...control unit, 9...third gyro sensor, 10...main body, 11A / 11B...fixing unit, 15A / 15B...holder, 20...first camera module, 21...first optical element, 22...first image pickup element, 40...second camera module, 41...second optical element, 42...second image pickup element, 61...first swing support mechanism, 62...first rotation support mechanism, 63...first swing correction drive mechanism, 64...first rotation correction drive mechanism, 71...second swing support mechanism, 7 2...second rotation support mechanism, 73...second swing correction drive mechanism, 74...second rotation correction drive mechanism, 811...first swing support portion, 812...second swing support portion, 813...movable frame, 814...first fulcrum portion, 815...second fulcrum portion, 816...first receiving portion, 817...second receiving portion, 818...sphere, 821...first member, 822...second member, 823 ...Rotation mechanism, 824...first annular groove, 825...second annular groove, 826...rolling body, 827...leg, 831...first coil, 832...first magnet, 833...second coil, 834...second magnet, 841...coil, 842...magnet, L1...first optical axis, L2...second optical axis, R1...first axis, R2...second axis, R3...third axis, R4...fourth axis.

Claims

1. A stereo camera comprising: a first camera unit including a first optical element and a first image capture element that captures an image formed by the first optical element as a first image; a first gyro sensor that detects the attitude of the first image capture element as first attitude information; a second camera unit including a second optical element and a second image capture element that captures an image formed by the second optical element as a second image; a second gyro sensor that detects the attitude of the second image capture element as second attitude information; a first attitude adjustment mechanism that adjusts the attitude of the first camera unit; and a control unit that controls the first attitude adjustment mechanism to adjust the attitude of the first camera unit based on the first attitude information and the second attitude information so that the attitude of the first image capture element becomes a predetermined attitude with respect to the attitude of the second image capture element.

2. The stereo camera according to claim 1, wherein the predetermined orientation is the same as the orientation of the second image sensor.

3. The stereo camera according to claim 1 or 2, characterized in that the first attitude adjustment mechanism comprises: a first swing support mechanism that supports the first camera unit rotatably around a first axis that intersects with the first optical axis of the first optical element, and that supports the first camera unit rotatably around a second axis that intersects with the first optical axis and the first axis; and a first swing correction drive mechanism that generates a magnetic force that rotates the first camera unit around the first axis and the second axis.

4. The stereo camera described in claim 3, characterized in that the first attitude adjustment mechanism comprises a first rotation support mechanism that supports the first camera unit so that it can rotate around the first optical axis, and a first rotation correction drive mechanism that generates a magnetic force that rotates the first camera unit around the first optical axis.

5. The stereo camera described in claim 1, further comprising a second attitude adjustment mechanism that adjusts the attitude of the second camera unit, wherein the control unit controls the first attitude adjustment mechanism to correct image blur of the first image sensor based on the first attitude information, and controls the second attitude adjustment mechanism to correct image blur of the second image sensor based on the second attitude information.

6. The stereo camera described in claim 5, characterized in that the second attitude adjustment mechanism comprises: a second swing support mechanism that supports the second camera unit rotatably around a third axis that intersects with the second optical axis of the second optical element, and that supports the second camera unit rotatably around a fourth axis that intersects with the second optical axis and the third axis; and a second swing correction drive mechanism that generates a magnetic force that rotates the second camera unit around the third axis and the fourth axis.

7. The stereo camera described in claim 6, characterized in that the second attitude adjustment mechanism comprises a second rotation support mechanism that supports the second camera unit so that it can rotate around the second optical axis, and a second rotation correction drive mechanism that generates a magnetic force that rotates the second camera unit around the second optical axis.

8. A stereo camera as described in any one of claims 5 to 7, further comprising: a main body to which the first camera unit is attached via a first attitude adjustment mechanism and to which the second camera unit is attached via a second attitude adjustment mechanism; and a third gyro sensor that detects the attitude of the main body as third attitude information, wherein the control unit controls the second attitude adjustment mechanism to adjust the attitude of the second camera unit based on the second attitude information and the third attitude information so that the attitude of the second image sensor becomes a predetermined attitude with respect to the main body, and controls the first attitude adjustment mechanism to adjust the attitude of the first camera unit based on the first attitude information and the second attitude information so that the attitude of the first image sensor becomes the same attitude as the attitude of the second image sensor adjusted by the second attitude adjustment mechanism.

Images