JP2000227332A - 3D imaging device and stereo camera recording and playback system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a three-dimensional image pickup device to obtain a plurality of images having sufficient parallaxes by using a single image picking-up means though the device has a relatively simple constitution. SOLUTION: A three-dimensional image pickup device is composed of one image pickup element 1, a pair of image pickup element-side mirrors 5a and 5b which are positioned with their faces turned obliquely outward against two different image picking-up areas 1a and 1b, and a pair of object-side mirrors 6a and 6b which are arranged correspondingly to the mirrors 1a and 1b with their faces turned obliquely forward against the areas 1a and 1b and reflect the light rays from an object to the mirrors 5a and 5b. The image pickup device is also provided with a pair of lenses 3a and 3b which form the images of the light rays reflected from the mirrors 5a, 5b, 6a, and 6b in the image picking-up areas 1a and 1b and a pair of stops 4a and 4b which are provided between the mirrors 5a and 5b and lenses 3a and 3b.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a three-dimensional imaging device,
In particular, a three-dimensional imaging device capable of obtaining a three-dimensional image (stereoscopic image) by capturing a plurality of images having parallax with respect to the same subject, or measuring a distance (ranging) with the subject, The present invention relates to a stereo camera recording / playback system using the same.

[0002]

2. Description of the Related Art In order to capture a three-dimensional image, it is necessary to capture a plurality of images of the same subject viewed from a plurality of different places separated from each other, that is, images having parallax. Therefore, in the related art, two cameras are generally provided in one three-dimensional imaging device, and two subject images captured from two different places are captured by different cameras.

[0003]

However, a three-dimensional image pickup apparatus for picking up a three-dimensional image by using two cameras has a large overall size because two cameras are used. There was a problem that it was difficult to respond to requests.

Further, in order to constitute a three-dimensional image pickup apparatus using a plurality of camera units, it is necessary to align the optical axes between two cameras. However, there is also a problem that the optical axis alignment between different cameras is considerably difficult. Was.

In the case where a plurality of cameras are provided, it is necessary to externally synchronize the cameras in processing image signals, which naturally requires a circuit for synchronizing. This causes high cost of the three-dimensional imaging device.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and uses a single image pickup means to form a plurality of images having a relatively simple configuration and a small size but having sufficient parallax. An object of the present invention is to provide a three-dimensional imaging device which can be obtained, and has no risk that an imaging lens occupying a large weight of the optical characteristics and performance of the device is exposed to the surface of the device and is not contaminated with dust or the like. It is an object of the present invention to provide a stereo camera recording / reproducing system having a relatively simple configuration using such a three-dimensional imaging device.

[0007]

A three-dimensional image pickup apparatus according to claim 1, wherein the image of the subject is captured from different viewpoints separated from each other by one image pickup device and a plurality of reflections and condensations of the subject. An imaging optical system that forms an image on each of the different regions of the element.

Therefore, according to the three-dimensional imaging apparatus of the first aspect, the same object is imaged by the imaging optical system as a plurality of images captured from different viewpoints separated from each other by a plurality of reflections and condensations. Since images are separately formed on a plurality of regions having different elements, the number of imaging elements required for the three-dimensional imaging device is reduced to one. Since a plurality of captured images having different parallaxes can be obtained with a single image sensor, it is not necessary to synchronize the plurality of cameras for capturing a three-dimensional image, for example. There is no need to provide a special circuit to take. In addition, if the optical axes are aligned for each optical system with respect to the same image sensor, the necessary optical axis alignment is completed, so that the optical axis alignment becomes easier as compared with the case where the optical axes are aligned between a plurality of cameras. . Moreover, since the lens is not located on the surface side of the three-dimensional imaging device but is always located closer to the image sensor than the reflection means on the optical path closest to the subject, it is possible to prevent exposure, so that optical characteristics and performance can be improved. It is possible to eliminate the risk that a lens that largely affects the surface is exposed to the surface and becomes dirty with dust or the like.

According to a second aspect of the present invention, there is provided a three-dimensional image pickup device, wherein one image pickup element and a plurality of image pickup element side reflection means provided with reflection surfaces facing obliquely outward with respect to a plurality of different portions of the image pickup area. And a plurality of subject-side reflections arranged so that the reflecting surface faces obliquely forward on the outside corresponding to each of the image-capturing element-side reflecting means, and mutually reflects light from the object to the corresponding image-capturing element-side reflecting means. Means, the light reflected by the subject-side reflecting means, and further reflected by the image-capturing element-side reflecting means, and reaching at least a plurality of different portions of the imaging region of the image-capturing element at least on the subject side relative to the subject-side reflecting means. A plurality or a plurality of sets of lenses provided are provided on the subject side more than the lens in the case of one lens in each optical path, and at least one lens in the case of one set. A plurality of throttle was, characterized by comprising the.

Therefore, according to the three-dimensional image pickup apparatus of the present invention, one object is composed of a plurality of object-side reflecting means, an image-capturing-element-side reflecting means, a lens, an aperture, and different portions of an image pickup area of one image pickup element. Are imaged with different parallaxes by the optical system described above, so that only one image sensor is required for the three-dimensional imaging device. Since a plurality of captured images having different parallaxes can be obtained with a single image sensor, it is not necessary to synchronize the plurality of cameras for capturing a three-dimensional image, for example. There is no need to provide a special circuit to take. Also, if the optical axis alignment is performed for each optical system for the same image sensor, the necessary optical axis alignment is completed,
The optical axis alignment becomes easier as compared with the case where the optical axis alignment is performed between a plurality of cameras.

Since a plurality of subject-side reflecting means for obtaining a plurality of images having parallax are provided outside the plurality of image-capturing-element-side reflecting means, the subject-side reflecting means is provided for the size of the three-dimensional imaging apparatus. The parallax can be relatively increased by increasing the distance between the means. Therefore, a more three-dimensional three-dimensional image can be obtained with high accuracy.

In the case where the number of lenses in each optical path is one, the luminous flux stopped down by the aperture is imaged on each part of the imaging area of the image sensor by the imaging lens, and the lens in each optical path has multiple lenses. In the case of several pairs of lenses, at least one of the lenses is located closer to the image sensor than the stop, and the light beam passed through the stop passes through the lens, so that it is not necessary to use a large lens. The effect can be enjoyed for all lenses or at least some lenses. Therefore, it is possible to obtain a three-dimensional imaging device which is small, has low cost, and has excellent optical characteristics. Since the lens is not located on the surface side of the three-dimensional device but is always located on the image sensor side of the object side reflection means in the optical path and can be prevented from being exposed, the optical characteristics and performance are greatly affected. It is possible to eliminate the possibility that the lens is exposed on the surface and becomes dirty with dust or the like, which has conventionally existed.

According to a seventh aspect of the present invention, there is provided a stereo camera recording / reproducing system, comprising: a three-dimensional image pickup device for forming an image of a subject on each of the plurality of image pickup areas of one image pickup element by a plurality of optical systems; A single timing generator and a single driver for driving the three-dimensional imaging device so as to output the formed image as a single image signal,
A single camera signal processing unit that processes the single image signal with a camera signal; a single signal recording unit that records the image signal output from the camera signal processing unit on a single recording medium; A single signal reproducing unit for reproducing the image signal recorded on the recording medium; an image separating circuit for separating the image signal output from the signal reproducing unit into signals corresponding to the plurality of imaging regions; A display device that separately displays signals corresponding to the plurality of imaging regions output from the image separation circuit, and a stereo camera recording and reproducing system, wherein the plurality of optical systems of the three-dimensional imaging device include:
A reflecting unit that reflects light from the subject a plurality of times, and at least a lens disposed closer to the imaging device than the reflecting unit closest to the subject, and from the different viewpoints separated from each other by the reflecting unit and the lens The captured image of the subject is separately formed on the plurality of imaging regions of the imaging element.

Therefore, according to the stereo camera recording / reproducing system of the present invention, signals of a plurality of subject images captured from different viewpoints for one subject output from the three-dimensional imaging device are treated as one image signal. Camera signal processing, signal recording, and signal playback.
It is sufficient to provide one camera signal processing unit, one signal recording unit, one signal reproducing unit, and one recording medium, and it is not necessary to provide each of them for the number of subject images formed in a plurality of imaging regions. Therefore, the configuration of the recording / reproducing system can be relatively simplified. Then, the signal of the subject image treated as one image signal is separated and displayed for each subject image by the image separating circuit, so that the three-dimensional reproduction display of the subject, that is, the reproduction display and the distance measurement (distance between the subject and the subject) are performed as a three-dimensional image. Distance measurement).

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A three-dimensional image pickup apparatus according to the present invention is basically composed of one image pickup element and one element for light from a subject.
And a plurality of imaging optical systems that form images of the subject captured from different viewpoints separated from each other by one or more reflections and condensed light in different regions of the image sensor. The parallax (distance between viewpoints) is preferably, for example, about 1 cm or more.

In the most typical embodiment of the three-dimensional image pickup apparatus according to the present invention, the reflection surface faces obliquely outward corresponding to one image pickup element and a plurality of different portions of the image pickup area of the image pickup element. A plurality of image sensor-side reflecting means provided, and a plurality of image-sensing element-side reflecting means, corresponding to the plurality of image-sensing element-side reflecting means, are disposed so that reflection surfaces face obliquely forward, and mutually transmit light from a subject to the corresponding image sensor. A plurality of subject-side reflecting means for reflecting to the side-reflecting means, and a plurality of different portions of the imaging region of the image sensor from the subject which are reflected by the plurality of subject-side reflecting means and further reflected by the image sensor-side reflecting means. A plurality of or a plurality of sets of lenses which are provided at least on the image sensor side of the subject-side reflecting means of each of the optical paths and form a plurality of subject images having parallax for the same subject; And a plurality of apertures provided on the subject side with respect to at least one lens in the case of one set. It may be an element, a MOS solid-state imaging element, or an amplification-type solid-state imaging element, and any type may be used.

In the three-dimensional imaging apparatus, before and after the reflection means for performing 2n-1 (n: a positive integer) number of reflections (in other words, an odd number of times) counting from the image sensor along the optical path,
It is preferable to provide a light beam restricting means for preventing light serving as one subject image from entering a region where another subject image of the image sensor is captured. This is because it is possible to effectively prevent the peripheral light flux from leaking into each imaging region where the subject image of the imaging element is formed.

That is, in order to capture the same subject from viewpoints separated from each other and to form a plurality of subject images in different regions of a small image sensor while securing the distance between the viewpoints, that is, parallax as necessary, the subject side Need to reflect the light from the light several times. On the other hand, in a three-dimensional imaging device, there is a possibility that a peripheral light flux leaks into each imaging region that forms a subject image, and it may be necessary to prevent such leakage. Therefore, it is preferable to provide a light beam limiting means in order to prevent the leakage. In order to provide this, it is better after the reflection means for performing 2n-1 (odd) reflections from the image sensor. This is because the light that enters between the imaging regions of the imaging device passes near the center of the three-dimensional imaging device instead of the outside in front of the reflection unit, and defines the imaging region of the subject image. The light beam limiting means for preventing crosstalk between a plurality of imaging regions can be provided near the center of the three-dimensional imaging device. Therefore, without limiting the size of the three-dimensional imaging device, crosstalk caused by light incident between a plurality of imaging regions, that is, light to be incident on one imaging region is transferred to another imaging region by providing a light beam limiting unit. This is because the phenomenon of leakage can be effectively prevented.

The reflecting means on the image pickup device side and the reflecting means on the object side may have a function of reflecting light, such as a mirror or a prism. The subject-side reflecting means and the imaging element-side reflecting means may reflect the light from the subject twice at an angle of 90 degrees to irradiate the subject to two portions of the imaging region of the solid-state imaging device. However, in order to reduce the size in the depth direction of the two optical systems of the three-dimensional imaging device, the light from the subject is guided to the solid-state imaging device by reflecting twice at an angle larger than 90 degrees (for example, 120 degrees). You may do it.

It is needless to say that the imaging lens provided in each optical path may be a single lens or two or more lenses. In particular, when obtaining high optical characteristics, two or more lens lenses are used. However, when it is not necessary to increase the optical characteristics so far, a single lens may be used. In any case, in the present invention, in each optical path, the lens is always located closer to the image sensor than the object-side reflecting means. This is because, if a lens that occupies the largest weight in optical characteristics and performance is placed closer to the subject than the subject-side reflecting means, the lens may be exposed on the surface of the three-dimensional imaging device, and dust may easily adhere. Because there is.

When the lens is a single-lens lens (that is, when the number of lenses in each optical path is one), the lens must always be arranged closer to the image pickup device than the stop.
In the case of a multi-ball lens (that is, when the lenses in each optical path are composed of a plurality of lenses), at least some of the lenses need to be arranged closer to the image sensor than the diaphragm. That is, by condensing the light beam converged by the aperture by the lens to form an image, it is possible to enjoy an effect that all or at least a part of the lens can be made small. Because.

The lens may be a spherical lens or an aspherical lens. Then, an infrared cut filter may be provided in any part of each optical path, such as between the imaging lens and the image sensor. Also, an optical low-pass filter may be provided in any part of each optical path to suppress a false signal.

Further, a light blocking means for blocking between the respective optical paths may be provided at least between the solid-state image pickup device and the image pickup device side reflection means. By doing so, it is possible to eliminate the possibility that optical crosstalk occurs between the respective optical systems for obtaining a plurality of images having parallax.

The three-dimensional image pickup apparatus has signal processing means for dividing an image signal from the image pickup device into image signals of respective subject images picked up in respective image pickup areas for picking up subject images having different viewpoints and performing signal processing. . This is because, in this way, after each subject image is independently detected, distance measurement and the generation of a three-dimensional image can be performed based on the principle of the triangulation method based on the plurality of independent subject images.

Further, in the stereo camera recording / reproducing system using the above-described three-dimensional image pickup device, in addition to the three-dimensional image pickup device, one image pickup device which constitutes the device is separately provided by a plurality of image pickup areas. A timing generator and driver for driving one image signal as an image despite capturing a subject image, a camera signal processing unit for processing the image signal output from the image sensor, and a camera signal processing unit; A signal recording unit that stores an image signal from the unit in a recording medium; a signal reproduction unit that reproduces the image signal stored in the recording medium; and the plurality of subject images that output the image signal output from the signal reproduction unit. And a plurality of display devices for individually displaying the image signals of the plurality of subject images from the image separation circuit. The image separation circuit, for example, divides each horizontal cycle into a plurality, and provides a plurality of extraction units for extracting image signals only during the division period, and outputs the outputs of the extraction units to a display unit provided corresponding to each extraction unit. It can be composed of a circuit for displaying.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the illustrated embodiments. FIG. 1 is a schematic configuration diagram of a first embodiment of the three-dimensional imaging apparatus of the present invention. In the drawings, 1 is a solid-state imaging device,
1a is one half of the imaging region of the solid-state imaging device 1, and 1b is the other half of the imaging region. Reference numeral 2 denotes an infrared cut filter, which is disposed in front of and in parallel with the imaging area of the solid-state imaging device 1. Reference numerals 3a and 3b denote imaging lenses provided corresponding to the respective halves 1a and 1b of the solid-state imaging device 1 through the infrared cut filter 2, and 4a and 4b denote the imaging lenses 3a and 3b.
The apertures 5a, 5b disposed in front of the apertures b, 5a, 5b face obliquely outward in front of the apertures 4a, 4b in correspondence with the respective halves 1a, 1b of the imaging area of the solid-state imaging device 1. Are mirrors provided on the image sensor side, 6a and 6b, which are provided outside the image sensor mirrors 5a and 5b so as to face obliquely inward corresponding to them. Reference numeral 7 denotes an imaging optical system including the image sensor mirror 5a, the diaphragm 4a, the lens 3a, the half 1a of the solid image sensor 1 between the image sensor mirrors 5a and 5b and the solid-state image sensor 1, and the image sensor mirror 5b , Aperture 4b, lens 3b, solid-state imaging device 1
The light blocking means is provided between the image forming optical system and the image forming optical system formed by the half part 1b, thereby preventing optical crosstalk between the two image forming optical systems.

The pair of subject-side mirrors 6a and 6b transmit light from the same subject at different positions (the distance between the viewpoints, that is, the parallax is preferably, for example, about 1 cm to 15 cm). , 5b. The pair of image sensor-side mirrors 5a and 5b reflect the light from the subject reflected by the pair of subject-side mirrors 6a and 6b toward each half 1a and 1b of the imaging area of the solid-state image sensor 1. . Then, a pair of image sensor side mirrors 5a,
A pair of lights from the subject reflected by 5b are stopped down by apertures 4a and 4b, and are formed by imaging lenses 3a and 3b.
Is imaged. At this time, infrared rays are cut by passing through the infrared ray cut filter 2.

FIGS. 2A and 2B are explanatory views of the principle of capturing a three-dimensional image. FIG. 2A shows the same subject captured at two viewpoints where subject-side mirrors 6a and 6b exist. The image pickup device side mirrors 5a and 5b, the aperture 4
a, 4b, and lenses 3a, 3b schematically forming images on the halves 1a, 1b of the solid-state imaging device 1 having different imaging regions. (B) schematically shows two captured images obtained by capturing the same subject from different viewpoints. This FIG. 2 (B)
Looking at the left and right captured images shown in FIG. 7, it can be seen that the position of the slightly smaller cylinder located in front of the innermost cylinder and the position of the pencil located further in front thereof are shifted. This is due to the parallax in the captured images for the same subject. Therefore, it is possible to grasp a stereoscopic image of the subject from the two images having parallax for the same subject.

That is, by subjecting the data representing the two captured images described above to appropriate data processing and image synthesis, the subject can be recognized three-dimensionally, and based on the recognition result, a three-dimensional image is formed. Images can be reproduced. Of course, the distance from the three-dimensional imaging device to the subject can also be measured. This is because the coordinates of each part of the subject can be obtained by the so-called triangulation principle.

FIGS. 3A and 3B show one configuration example of a three-dimensional imaging device and a circuit for processing the output of the three-dimensional imaging device.
(A) is a schematic configuration diagram, and (B) is a block diagram thereof.
From the solid-state imaging device 1, two captured images of the same subject captured from different viewpoints are obtained, and a video signal indicating the images is processed by the information processing device 8, converted into desired three-dimensional image data, and output to the outside. Is done. The output data is input to a display device (not shown) capable of stereoscopic display, and reproduced as a three-dimensional image by the display device.

The three-dimensional information is directly signal-processed without separating the left and right images and output as information indicating the position information of the object, which is used as image recognition data and data indicating the distance from the object. You may do it.

According to the three-dimensional image pickup apparatus of this embodiment, one object is composed of the object side mirrors 6a and 6b, the image pickup element side mirrors 5a and 5b, the lenses 3a and 3b, and the apertures 4a and 4b.
And different portions 1 of the imaging region of one solid-state imaging device 1
Since a pair of imaging optical systems a and 1b are used to pick up images with different parallaxes, only one solid-state image sensor 1 is required for the three-dimensional image pickup device. Since two captured images having different parallaxes can be obtained by one solid-state imaging device 1, it is not necessary to synchronize the two cameras, and therefore, a special circuit for synchronizing is not required.

Further, if the optical axis is adjusted for each optical system with respect to the same image pickup device, necessary optical axis alignment can be completed. Therefore, compared with the conventional optical axis alignment between two cameras. Optical axis alignment becomes easy.

Then, a subject-side mirror 6 serving as a pair of separated viewpoints for obtaining two images having parallax from each other.
Since a and 6b are provided outside the pair of image sensor-side mirrors 5a and 5b, the distance between the object-side mirrors 6a and 6b can be increased for the size of the three-dimensional imaging device, and consequently parallax. Can be relatively large. Therefore, a more stereoscopic three-dimensional image can be obtained with relatively high accuracy.

In the above embodiment, the object side mirror 6 is used.
a, 6b and the image sensor side mirrors 5a, 5b reflect the light from the object twice at an angle of 90 degrees to irradiate the object to two portions 1a, 1b of the imaging region of the solid-state image sensor 1. However, in order to reduce the size in the depth direction of the two optical systems of the three-dimensional imaging device, 9
The light from the subject may be guided to the solid-state imaging device by reflecting twice at an angle larger than 0 degree (for example, 120 degrees).

[0036]

FIG. 4 is a schematic block diagram of a second embodiment of the three-dimensional imaging apparatus according to the present invention. This embodiment has portions common to the first embodiment shown in FIG. 1. Since the common portions have already been described, detailed description thereof will be omitted, and only the other portions will be described in detail. And also
Parts common to FIG. 1 in FIG. 4 are denoted by common reference numerals.

In the drawing, 15a and 15b are the apertures 4
1a and 4b, are reflection prisms forming an image sensor-side reflecting means provided so as to face obliquely outward corresponding to the respective halves 1a and 1b of the imaging region of the solid-state image sensor 1, and FIG.
(1) Image sensor side mirrors 5a, 5a in the first embodiment shown in FIG.
Plays exactly the same role as b.

In the present embodiment, reference numerals 16a and 16b denote infrared cut filters, which are arranged in front of the reflecting prisms 15a and 15b (light incident side) which constitute each image sensor-side reflecting means. Reference numeral 17 denotes a cover glass for the solid-state imaging device provided in front of the solid-state imaging device 1.

Reference numerals 18a and 18b denote light beam limiting plates, which play a role in preventing light other than light that should enter the respective image pickup areas 1a and 1b of the solid-state image pickup device 1 from leaking and entering. That is,
When light from other than the corresponding imaging optical system leaks and enters each of the imaging regions 1a and 1b, the light becomes a noise component and causes a deterioration in image quality. Therefore, it is the light beam limiting plates 18a and 18b that prevent the leakage of the peripheral light beam.

FIG. 5 is an explanatory diagram showing the principle of limiting the incident light by the light beam limiting plate 18. As shown in FIG. Light from the subject passes through the imaging optical system to form an image on each imaging region of the imaging device 1, but light rays around the light beam contributing to the imaging may become noise components in the adjacent imaging region (adjacent imaging area). However, in FIG. 5, light from the outermost part of the subject frame is denoted by A, B, and C, and the angle at which A enters the image sensor 1 is large. Therefore, light outside the light beam A needs to be cut. For this purpose, the light beam limiting plate 18 is positioned at an odd number (2n−1) times of reflecting means counting from the image pickup device 1, in this case, at a position where the light inside the light beam A is cut in front of the reflecting prism 15. It should just be arranged. This is because, at this position, the light ray limiting plate 18 is arranged at a position away from the central axis of the three-dimensional image pickup device, so that leakage and incidence of the peripheral light beam can be effectively prevented. That is, the ray A comes outside the rays B and C, so that the ray bundles formed by the rays A, B and C can all contribute to the image formation without blocking the rays B and C. Because.

Incidentally, if the light beam limiting plate 18 is connected to the image sensor 1
In the case where it is positioned in front of the even number (2n) times of the reflection means counted from the above, the peripheral light beam cannot be cut unless the light beam limiting plate 18 is provided outside the three-dimensional imaging device, and the three-dimensional imaging device Therefore, the light-shielding property of the light beam is not effective, which is not preferable.

FIGS. 6A to 6D show still another embodiment of the three-dimensional image pickup apparatus according to the present invention. Each embodiment differs from the embodiment shown in FIGS. Although they do, they are common in many ways and the common points have already been explained,
Detailed description will be omitted, and only the differences will be described in detail.

Each of the four embodiments shown in FIGS. 6A to 6D is different from the embodiment shown in FIG. 1 in that a prism is used instead of a mirror as the reflection means. 1
Reference numerals 0a and 10b denote prisms forming object side reflection means, and 11
Reference numerals a and 11b denote prisms forming an image sensor-side reflecting means. When the prism is used as the reflecting means, the reflecting surface is naturally positioned with respect to the subject and the imaging surface of the imaging device 1 by aligning the entrance surface or the emission surface parallel or perpendicular to the surface or the vertical surface of the imaging device 1. There is an advantage that alignment can be performed at an angle of 45 degrees and alignment is easy.

FIGS. 6A and 6B both show:
The number of lenses arranged in each optical path is one, and the apertures 3a, 3b
The lens 4 is located immediately behind (that is, immediately on the side of the image sensor 1).
a and 4b are arranged. Then, the apertures 3a, 3
6A and the lenses 4a and 4b are prisms 10a and 10b which form object-side reflecting means in the case of the embodiment shown in FIG.
And prisms 11a and 11b forming an image sensor side reflecting means
In the case of the embodiment shown in FIG. 6B, the prisms 11a and 11b forming the image sensor side reflection means and the image sensor 1
And is provided between them.

FIGS. 6C and 6D show a case where a plurality of lenses 4a, 4b, 14a and 14b are provided for each optical path, and those shown in FIG. 3a, 3
b and the lenses 14a, 14b immediately behind it are arranged between the prisms 10a, 10b forming the object-side reflecting means and the prisms 11a, 11b forming the imaging element-side reflecting means. , Are disposed between the image pickup device 1 and the prisms 11a and 11b constituting the image pickup device side reflection means. In this case, two lenses 14 in each optical path
Since a, 14b, 4a, and 4b are all located closer to the image sensor 1 on the optical path than the stops 3a and 3b, the light beams narrowed by the stops 3a and 3b are condensed to form an image. Can be used.

FIG. 6D shows the diaphragms 3a and 3b and the lens 14a in the three-dimensional image pickup apparatus shown in FIG.
14b, the positional relationship with the lens 14b is reversed.
The lenses a and b are condensed at a stage where the diaphragms 3a and 3b do not stop. However, since the lenses 4a and 4b are focused on the light beam with the diaphragm, a small one should be used. Can be enjoyed.

Although the infrared cut filter is not provided in each of the embodiments shown in FIGS. 6A to 6D, it goes without saying that the infrared cut filter may be provided. Then, instead of the light blocking plate 7 shown in FIG. 1, a light beam limiting plate 18 of the second embodiment shown in FIG. 4 may be provided,
It goes without saying that both may be provided. Further, except for the embodiment shown in FIG. 4 in which the optical low-pass filter is not provided,
Needless to say, it may be provided. If provided, it may be provided at any part of the optical path in each optical system. As described above, the three-dimensional imaging apparatus of the present invention can be implemented in various modes.

[0048]

FIG. 7 is a block diagram showing the configuration of one example of a stereo camera recording / reproducing system using the above-described three-dimensional imaging apparatus of the present invention (first embodiment of the stereo camera recording / reproducing system of the present invention). . In FIG. 7, reference numeral 21 denotes a stereo optical system as shown in FIG. 1 (a stereo optical system of another embodiment may be used), and 1 denotes an image pickup device on which a subject image is formed by the stereo optical system 21, 1a and 1b. Is an imaging region in which different subject images obtained by capturing one subject of the image sensor 1 from different viewpoints are formed, 22 is a timing generator for driving the image sensor 1 to output one image signal, and 23 is a timing generator. It is a driver that receives the output of the timing generator 22 and drives the image sensor 1.

Reference numeral 24 denotes a camera signal processing unit for processing the image signal from the image sensor 1 as an image signal indicating one subject, and 25 denotes a CDS circuit (correlated double sampling circuit) of the same, which extracts noise components from the image signal. Remove. 26
Is an AGC circuit (auto gain control circuit), 27
Is a processing circuit for converting the output of the AGC circuit 26 into a digital signal and performing necessary processing. The A / D conversion circuit 28
The microcomputer 29 is configured to process the signal converted into a digital signal. 30 is an image signal output circuit for amplifying the signal from the processing circuit 27 and outputting an image signal, 31 is an image signal recording circuit (video recorder) for recording the image signal output from the image signal output circuit 30, Reference numeral 32 denotes a recording medium on which an image signal is recorded by the image signal recording circuit 31, which is, for example, a video tape or a digital video disk. 3
Reference numeral 3 denotes a video reproducer that reproduces an image signal stored in the recording medium 32.

Reference numeral 34 denotes an image separating circuit, which is a video reproducing device 33.
, And separates the image signals corresponding to the two imaging regions 1a and 1b of the imaging device 1 from each other,
The output is distributed to the two display devices 35a and 35b.
The display device 35a displays an image signal of the subject image formed in the imaging region 1a, and the display device 35b displays an image signal of the subject image formed in the imaging region 1b. Therefore, different object images of one object viewed from different viewpoints are displayed on the two display devices 35a and 35b, and a three-dimensional display is possible, and the distance between the object and the stereo camera recording / reproducing system is measured (distance measurement). Is also possible.

In the present stereo camera recording / reproducing system, the image pickup device 1 forms different object images of the same object from different viewpoints in the respective image pickup regions 1a and 1b. The image signal obtained by the imaging is processed as if it were a signal of one subject image, and thereafter, all image signals are processed as a single image signal indicating one subject image before the image separation circuit 34. Then, the image separation circuit 34 first separates the image signal treated as a single image signal into two image signals indicating two subject images, distributes them to the display devices 35a and 35b, and displays them separately.

The image separating circuit 34 is provided with, for example, an extractor for extracting only the first half of each horizontal period of the image signal and an extractor for extracting only the latter half of the image signal. 35b. In this case, the image sensor 1
Is divided into two in the horizontal direction, and two imaging regions 1a and 1b are set.

The image pickup device 1 is divided into two parts in the vertical direction to set two image pickup areas 1a and 1b.
Is provided by providing an extraction unit for extracting only the first half and an extraction unit for extracting only the second half in each vertical cycle, and transmitting the output of each extraction unit to different display devices 35a and 35b. You can also.

According to the present stereo camera recording / reproducing system, the timing generator 22, the driver 23, the CDS
Circuit 25, AGC circuit 26, A / D conversion circuit 28, microcomputer 29, image signal output circuit 30, video recorder 31, recording medium 32, and video player 33
May be provided one by one, and it is not necessary to provide a plurality of them. Therefore, the stereo camera recording / reproducing system can have a simple configuration.

[0055]

According to the three-dimensional imaging apparatus of the first aspect, the same subject is formed as a plurality of images captured from different viewpoints separated from each other by one or more times of reflection and condensing by the imaging optical system. Since images are separately formed on a plurality of regions of the image pickup device different from each other, the number of image pickup devices required for the three-dimensional image pickup device is reduced to one. Since a plurality of captured images having different parallaxes can be obtained with a single image sensor, it is not necessary to synchronize the plurality of cameras for capturing a three-dimensional image, for example. There is no need to provide a special circuit to take. In addition, if the optical axes are aligned for each optical system with respect to the same image sensor, the necessary optical axis alignment is completed, so that the optical axis alignment becomes easier as compared with the case where the optical axes are aligned between a plurality of cameras. . Moreover, since the lens is not located on the surface side of the three-dimensional imaging device but is always located closer to the image sensor than the reflection means on the optical path closest to the subject, it is possible to prevent exposure, so that optical characteristics and performance can be improved. It is possible to eliminate the risk that a lens that largely affects the surface is exposed to the surface and becomes dirty with dust or the like.

Further, since a plurality of subject-side reflecting means for obtaining a plurality of images having parallax are provided outside the plurality of imaging element-side reflecting means, the subject-side reflecting means is provided for the size of the three-dimensional imaging apparatus. The parallax can be relatively increased by increasing the distance between the means. Therefore, a more three-dimensional three-dimensional image can be obtained with high accuracy.

In the case where the number of lenses in each optical path is one, the light beam that is stopped down by the aperture is imaged on each part of the image pickup area of the image sensor by the image forming lens, and the lens in each optical path has multiple lenses. If it consists of several pairs of lenses, at least one of them should be located closer to the image sensor than the stop, and the light beam passed through the stop passes through that lens. However, it is possible to obtain a three-dimensional imaging device which is small, inexpensive, and has excellent optical characteristics. And the lens is not located on the surface side of the three-dimensional device, but is always located on the image sensor side of the object side reflection means in the optical path,
Optical properties,
It is possible to eliminate the risk that the lens which greatly affects the performance is exposed on the surface and becomes dirty with dust or the like.

According to the three-dimensional imaging apparatus of the second aspect, one subject is composed of a subject-side reflecting means, an image-capturing-element-side reflecting means,
Since images are taken with different parallaxes by a plurality of optical systems composed of a lens, a diaphragm, and different portions of the imaging region of one imaging device, the number of imaging devices required for the three-dimensional imaging device is reduced to one. Since a plurality of captured images having different parallaxes can be obtained with a single image sensor, it is not necessary to synchronize the plurality of cameras for capturing a three-dimensional image, for example. There is no need to provide a special circuit to take. In addition, if the optical axes are aligned for each optical system with respect to the same image sensor, the necessary optical axis alignment is completed, so that the optical axis alignment becomes easier as compared with the case where the optical axes are aligned between a plurality of cameras. .

Since a plurality of object-side reflecting means for obtaining a plurality of images having parallax are provided outside the plurality of image-capturing element-side reflecting means, the object-side reflecting means is provided for the size of the three-dimensional imaging apparatus. The parallax can be relatively increased by increasing the distance between the means. Therefore, a more three-dimensional three-dimensional image can be obtained with high accuracy.

In the case where the number of lenses in each optical path is one, the light beam stopped by the aperture is imaged on each part of the imaging area of the image sensor by the imaging lens. In the case of several pairs of lenses, at least one of the lenses is located closer to the image sensor than the stop, and the light beam passed through the stop passes through the lens, so that it is not necessary to use a large lens. The effect can be enjoyed for all lenses or at least some lenses. Therefore, it is possible to obtain a three-dimensional imaging device which is small, has low cost, and has excellent optical characteristics. Since the lens is not located on the surface side of the three-dimensional device but is always located on the image sensor side of the object side reflection means in the optical path and can be prevented from being exposed, the optical characteristics and performance are greatly affected. It is possible to eliminate the possibility that the lens is exposed on the surface and becomes dirty with dust or the like, which has conventionally existed.

According to the three-dimensional imaging apparatus of the third aspect, the light blocking means for blocking between the respective optical paths for forming the respective subject images is provided at least between the solid-state imaging device and the imaging device side reflection means. It is possible to eliminate the possibility that optical crosstalk occurs between optical systems for obtaining a plurality of images having parallax.

According to the three-dimensional image pickup apparatus of the present invention, 2n-1 (n: a positive integer) counted from the image pickup element along the optical path.
The light serving as one subject image is prevented from entering a region for capturing another subject image of the image pickup element, behind the reflecting means for performing the reflection (in other words, the odd-numbered reflection), and the image of each subject image is formed. Since the light beam limiting means for defining the area is provided, it is possible to cut the incidence of the peripheral light beam from the outside of the subject by the light beam limiting plate while making the position of the light beam limiting plate closer to the center axis side instead of the outside of the three-dimensional imaging device. Thus, it is possible to effectively prevent noise due to peripheral light flux without increasing the size of the three-dimensional imaging device.

According to the three-dimensional image pickup apparatus of the fifth aspect, data can be obtained by independently detecting each subject image, and further, triangulation can be performed based on the data of the plurality of independent subject images. Distance measurement and three-dimensional image generation can be performed by the principle of the method.

According to the three-dimensional imaging apparatus of the present invention, since the parallax is 1 cm or more, for example, about 1 to 15 cm, it is possible to measure a small and relatively accurate distance and generate a three-dimensional image (stereoscopic image).

According to the stereo camera recording / reproducing system of the present invention, a plurality of subject image signals captured from different viewpoints for one subject output from the three-dimensional imaging device are treated as one image signal. Signal processing,
Since signal recording and signal reproduction can be performed, only one camera signal processing unit, one signal recording unit, one signal reproduction unit, and one recording medium may be provided. There is no need to provide each.
Therefore, the configuration of the recording / reproducing system can be relatively simplified. Then, the signal of the subject image treated as one image signal is separated and displayed for each subject image by the image separating circuit, so that the three-dimensional reproduction display of the subject, that is, the reproduction display and the distance measurement (distance between the subject and the subject) are performed as a three-dimensional image. Distance measurement).

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram showing a first embodiment of a three-dimensional imaging apparatus of the present invention.

FIGS. 2A and 2B are explanatory diagrams of a principle of capturing a three-dimensional image, and FIG. 2A illustrates the same subject captured at two viewpoints where a subject-side reflection unit exists, and captured at each viewpoint. It schematically shows that an image of a subject is formed on a different portion of an imaging area of a solid-state imaging device by an imaging device-side reflection unit, an aperture, and a lens,
(B) schematically shows two captured images obtained by capturing the same subject from different viewpoints.

FIGS. 3A and 3B show one configuration example of a three-dimensional imaging device and a circuit for processing the output of the three-dimensional imaging device. FIG. 3A is a schematic configuration diagram, and FIG. 3B is a block diagram thereof. .

FIG. 4 is a schematic configuration diagram showing a second embodiment of the three-dimensional imaging apparatus of the present invention.

FIG. 5 is an explanatory view of the principle of cutting off the peripheral light beam of the light beam limiting plate in the second embodiment shown in FIG. 4;

FIGS. 6A to 6D are schematic configuration diagrams showing still another different embodiment of the three-dimensional imaging apparatus of the present invention.

FIG. 7 is a block diagram illustrating a configuration of an example of a stereo camera recording / reproducing system using the three-dimensional imaging apparatus of the present invention (first embodiment of the stereo camera recording / reproducing system of the present invention).

[Explanation of symbols]

Reference numeral 1 denotes an image sensor, 1a, 1b: different portions of an image pickup area of the image sensor, 3a, 3b: imaging lenses, 4a,
4b: aperture, 5a, 5b: imaging element side reflection means (mirror), 6a, 6b: object side reflection means (mirror), 7: light blocking means, 10a, 10b: object Side reflection means (prism), 11a, 11b ... image pickup element side reflection means (prism), 15a, 15b ... image pickup element side reflection means (prism), 18 ... ray limiting means, 21 ... stereo Optical system, 22 timing generator, 23 driver, 24 camera signal processing unit, 31 signal recording unit, 32 recording media, 33 signal reproduction unit, 34・ Image separation unit, 3
5a, 35b ... display device.

Claims (7)

[Claims] An image pickup device, a plurality of reflections of light from a subject by a plurality of reflection means, and a light collection by a lens disposed at least behind the reflection means closest to the subject. And a plurality of imaging optical systems that form images of the subject captured from different viewpoints separated from each other on different areas of the imaging device. 2. An image pickup device, a plurality of image pickup device-side reflecting means provided so that a reflection surface faces obliquely outward corresponding to a plurality of mutually different portions of an image pickup region of the image pickup device; A plurality of subject-side reflecting means arranged so that the reflecting surface faces obliquely forward on the outside corresponding to the image-capturing element-side reflecting means, and mutually reflects light from the subject to the corresponding image-capturing element-side reflecting means, At least each of the light paths reflected from the plurality of subject-side reflecting means and further reflected by the image-capturing element-side reflecting means from the subject to a plurality of different portions of the image-capturing area of the image-capturing element. A plurality of lenses or a plurality of sets of lenses which are provided on the side and form a plurality of subject images having parallax for the same subject; And a plurality of apertures provided in one set on the subject side with respect to at least one lens. 3. The light shielding means according to claim 1, further comprising a light blocking means for blocking between respective optical paths for forming respective subject images at least between the solid-state image pickup device and the image pickup device side reflection means. Three-dimensional imaging device. 4. An image pickup device counting along the optical path, 2n-1
(N: a positive integer) Behind the reflecting means that makes the second reflection,
4. The three-dimensional image pickup apparatus according to claim 1, further comprising a light beam restricting means for preventing a peripheral light beam outside a light beam serving as a subject image from entering the image pickup area. 5. A signal processing means for dividing an image signal from an image sensor into image signals of respective subject images picked up in respective image pickup areas for picking up subject images having different viewpoints and performing signal processing. The three-dimensional imaging device according to claim 1, 2, 3, or 4, wherein 6. The three-dimensional imaging apparatus according to claim 1, wherein the parallax (distance between viewpoints) is 1 cm or more. 7. A three-dimensional imaging apparatus comprising: one imaging element having a plurality of imaging regions; and a plurality of optical systems for forming an image of a subject on each of the plurality of imaging regions; A single timing generator and a single driver for driving the three-dimensional imaging device so as to output the formed image as a single image signal; and a camera for processing the single image signal with a camera signal A signal processing unit; a single signal recording unit that records the image signal output from the camera signal processing unit on a single recording medium; and a single signal recording unit that reproduces the image signal recorded on the recording medium. A signal reproduction unit; an image separation circuit that separates the image signal output from the signal reproduction unit into signals corresponding to the plurality of imaging regions; and the plurality of imaging regions output from the image separation circuit. A stereoscopic camera recording / reproducing system comprising: a display device for displaying a signal corresponding to each of the three-dimensional imaging device, wherein the plurality of optical systems of the three-dimensional imaging device reflect light from a subject a plurality of times; At least a lens disposed closer to the image sensor than the reflection unit closest to the subject; and the plurality of images of the subject captured from different viewpoints separated from each other by the reflection unit and the lens. A stereo camera recording / reproducing system, wherein an image is separately formed in each of the imaging areas.