WO2025069752A1 - Imaging device, information processing device, and imaging system - Google Patents

Abstract

[Problem] To provide, through the present disclosure, an imaging device, an information processing device, and an imaging system capable of suppressing a reduction in the accuracy of image synthesis. [Solution] An imaging device according to the present disclosure comprises: a first camera; a second camera fixed to the first camera; and a reference image plate disposed facing an imaging surface of the second camera and having a chart including a plurality of sections.

Description

Imaging device, information processing device, and imaging system

This disclosure relates to an imaging device, an information processing device, and an imaging system.

　There is known an information processing device that generates one panoramic image from multiple images. Such a panoramic image is created by mechanically driving the imaging device in multiple imaging directions using a motor, and then synthesizing the images so that multiple captured images are continuous.

JP 2019-41208 A

However, there are cases where the required accuracy of the image synthesis process is higher than the accuracy of the mechanical drive, and there is a risk of misalignment in the composite image produced by the image synthesis process. Furthermore, increasing the accuracy of the mechanical drive in response to higher resolution imaging devices results in higher costs. Furthermore, if an attempt is made to suppress misalignment in the composite image using general image synthesis processing, there is a risk of an increased load on searching for joint positions and on the synthesis process when stitching images together.

The present disclosure provides an imaging device, an information processing device, and an imaging system that can suppress a decrease in accuracy of image synthesis processing.

In order to solve the above problems, according to the present disclosure,
a first camera; and a second camera fixed to the first camera.
a reference image plate disposed opposite to an imaging surface of the second camera and having a chart including a plurality of sections;
An imaging device is provided, comprising:

the first camera and the second camera are rotatable about a pan axis;
A second optical axis of the imaging system of the second camera may have an intersection with a pan axis.

The first optical axis of the imaging system of the first camera may have an intersection with the pan axis.

The reference image plate may have a chart including multiple compartments on at least a portion of the inner surface of a hollow sphere.

The chart may be drawn as a black rectangle on a white background.

the first camera and the second camera are rotatable about a pan axis;
The centre of the reference image plate may be on the pan axis.

The first optical axis and the second optical axis may be coaxial.

The imaging system of the second camera may be positioned closer to the first camera than the pan axis.

the first camera and the second camera are rotatable about a tilt axis;
The tilt axis may pass through the intersection point.

a light source for illuminating the chart;
The lighting device may further include a light-shielding cover that blocks the illumination.

a camera frame supporting the first camera and the second camera;
The light source and the light-shielding cover may be supported by the camera frame.

The device may further include a transparent outer dome that covers the first and second cameras, the camera frame, the light source, and the light-shielding cover.

The system may further include a drive control unit that causes the second camera to capture images of multiple sections of the chart in a predetermined order and causes the first camera to capture images in response to the images captured by the second camera.

The angles of view of the first camera and the second camera are fixed, and the angle of view of the first camera may be greater than or equal to the angle of view of the second camera.

In order to solve the above problems, according to the present disclosure, there is provided a composition processing unit that performs composition processing of a plurality of image data output from a first camera fixed to a second camera based on image data of the second camera that photographs a chart including a plurality of partitions,
An information processing device is provided.

a synthesis processing unit that synthesizes a plurality of image data output from a first camera fixed to a second camera based on image data of the second camera that captures an image of a chart including a plurality of partitions;
It may be prepared.

a partition processing unit that generates first partition image data of the first camera corresponding to the partition in the second image data of the second camera,
The synthesis processing unit may synthesize the first section image data.

Further comprising a storage unit for storing arrangement information corresponding to the partitions,
The synthesis processing unit may synthesize the first section image data based on the layout information.

The partition processing unit recognizes an identification symbol corresponding to the partition,
The synthesis processing unit may synthesize the first section image data based on the identification symbol.

In order to solve the above problems, according to the present disclosure,
An imaging device;
An imaging system including an information processing device,
The imaging device includes:
a first camera; and a second camera fixed to the first camera.
a reference image plate disposed opposite to an imaging surface of the second camera and having a chart including a plurality of sections;
having
The information processing device includes:
a synthesis processing unit that synthesizes a plurality of image data output from the first camera based on image data of the second camera that captures an image of a chart including the plurality of partitions;
An imaging system is provided having the following:

The information processing device includes:
The chart may further include a camera control unit that causes the second camera to capture images of the plurality of sections of the chart in a predetermined order and causes the first camera to capture images in response to the images captured by the second camera.

FIG. 1 is a block diagram illustrating an example of an imaging system according to an embodiment of the present disclosure. FIG. FIG. 4 is a perspective view showing a second camera, a light source, and a light-shielding cover. FIG. FIG. 1 is a perspective view showing an entire imaging device. 5A to 5C are diagrams illustrating a manufacturing process of a reference image plate. FIG. 13 is a schematic diagram showing a zx-axis cross section passing through an intersection point of a spherical reference image plate. FIG. 2 is a schematic diagram showing a yx-axis cross section passing through an intersection point of a spherical reference image plate. FIG. 4 is a conceptual diagram illustrating the inner surface of the reference image plate on the second camera side. 11A and 11B are schematic diagrams showing examples of images of a square of a chart captured at different tilt angles. FIG. 4 is a diagram illustrating a relationship between a first captured image and a second captured image. FIG. 1 is a block diagram showing an example of the configuration of an information processing device. FIG. 1 is a diagram illustrating a processing example of an information processing device. FIG. 2 is a block diagram showing an example of the configuration of a monitoring device. FIG. 11 is a vertical cross-sectional view of an imaging device according to a second embodiment. FIG. 1 is a vertical cross-sectional view of the reference image plate. FIG. 13 is a diagram showing an example of tilting operation about a tilt axis. FIG. 1 is a perspective view showing an entire imaging device. FIG. 13 is a vertical cross-sectional view of an imaging device according to a third embodiment. FIG. 1 is a perspective cross-sectional view with the outer dome removed. FIG. 2 is a perspective view showing the entire imaging device with the outer dome removed. 4A and 4B are diagrams showing an image captured by a first camera and a square area corresponding to the square area;

Below, an embodiment of the light-emitting element will be described with reference to the drawings. The following description will focus on the main components of the imaging device, information processing device, and imaging system, but the imaging device, information processing device, and imaging system may have components and functions that are not shown or described. The following description does not exclude components and functions that are not shown or described.

First Embodiment
FIG. 1 is a block diagram showing an example of an imaging system 1 according to an embodiment of the present disclosure. As shown in FIG. 1, the imaging system 1 is a system capable of generating a panoramic image, and includes an imaging device 10, an information processing device 20, a first display device 30, a monitoring device 40, and a second display device 50. The imaging system 1 can be used, for example, as a monitoring or observation system. That is, the imaging system 1 can be used, for example, for environmental monitoring (disasters, forest fires, air pollution, etc.), recording the ecology of a wide range of animals, and monitoring plant growth and irrigation. The panoramic image according to this embodiment is an example of a wide-angle image.

The imaging device 10 is a device having a second camera 102 (see FIG. 2) fixed to a first camera 100 (see FIG. 2 described later). This imaging device 10 is capable of generating one panoramic image from multiple images captured by the first camera 100, using a chart image, which is an example of a reference image captured by the second camera 102. Details of the imaging device 10 will be described later.

The information processing device 20 is, for example, an edge computer, and is configured to include a CPU (Central Processing Unit), and is capable of controlling the imaging device 10 and performing image synthesis processing of a panoramic image. The information processing device 20 can communicate with the monitoring device 40 via a network nw. The network nw may be wired or wireless. Details of the information processing device 20 will be described later. The imaging device 10 and the information processing device 20 can also be configured as an integrated unit. For example, the circuit board of the information processing device 20, which includes a CPU, can be built into the driving space 104s (see FIG. 2) together with the driving control unit of the imaging device 10. The driving control unit has, for example, a mechanical driving control unit including a CPU and a mechanical driving unit including a motor. The mechanical driving control unit controls the entire imaging device 10. The mechanical driving unit of the driving control unit executes mechanical driving of the imaging device 10 according to the control of the mechanical driving control unit. This mechanical driving control unit also controls the imaging of the first camera 100 and the second camera 102. Furthermore, the imaging device 10 and the information processing device 20 can also be configured as stand-alone devices without being connected via the network nw.

The monitoring device 40 may be, for example, a server on the cloud side, includes a CPU, and can be used to monitor the panoramic image generated by the information processing device 20 via the network nw. The second display device 50 may be, for example, a monitor, and displays the panoramic image provided by the monitoring device 40. Details of the monitoring device 40 will be described later.

Here, the imaging device 10 will be described in detail with reference to Figs. 2 to 8. Fig. 2 is a vertical cross-sectional view of the imaging device 10. In the following description, the vertical direction is the Z axis, and the directions perpendicular to the Z axis are the x and y axes. The positive direction of the Z axis is the vertically upward direction, but is not limited to this. For example, the positive direction of the Z axis may be the vertically downward direction. In other words, the imaging device 10 can also be installed upside down as compared to Fig. 2.

As shown in FIG. 2, the imaging device 10 includes a first camera 100, a second camera 102, a camera platform 104, a reference image plate 106, a light-shielding cover 108, a support 109, an external dome 110, and a light source 112 (see FIG. 3). The first camera 100 is a camera that captures images of the outside world, such as scenery. The imaging system of the first camera 100 has a first optical axis OL1. The imaging system may be composed of a single lens, or may be composed of multiple lenses.

The second camera 102 is fixed to the first camera 100 and captures an image of the reference image plate 106. The imaging system of the second camera 102 has a second optical axis OL2. The imaging system may be composed of a single lens, or may be composed of multiple lenses.

The gimbal 104 supports the first camera 100 and the second camera 102, and is capable of panoramic and tilt movements. The gimbal 104 is supported by a support 109.

Mechanical drive units such as motors that perform pan and tilt operations on the camera platform 104 are disposed in the drive space 104s. The camera platform 104 has a pan axis rotation mechanism 104a that rotates the first camera 100 and the second camera 102 around a pan axis OP, and a tilt axis rotation mechanism 104b that rotates the first camera 100 and the second camera 102 around a tilt axis OT. The pan axis OP is a rotation axis that passes through the pan axis rotation mechanism 104a in the vertical direction, and the tilt axis OT is a rotation axis that passes through the tilt axis rotation mechanism 104b in the horizontal direction.

The first camera 100, the second camera 102, and the light-shielding cover 108 are fixed to the camera frame 104c. The camera frame 104c is fixed to the support frame 104d via the tilt axis rotation mechanism 104b. The support frame 104d is also configured to be rotatable by the pan axis rotation mechanism 104a.

More specifically, the pan head 104 forms a pan axis OP and a tilt axis OT that pass through, for example, the intersection C of the first optical axis OL1 of the first camera 100 and the second optical axis OL2 of the second camera 102. A spherical reference image plate 106 is fixed to the pan head 104. The center point of the sphere of the reference image plate 106 is, for example, the intersection C. In this embodiment, the first angle of view of the first camera 100 and the second angle of view of the second camera 102 are fixed. For example, the first angle of view of the first camera 100 is set to be equal to or larger than the second angle of view of the second camera 102. In this way, the pan axis rotation mechanism 104a of the pan head 104 can rotate the first optical axes OL1 and OL2 of the first camera 100 and the second camera 102 along a horizontal plane (x, y plane) with the pan axis OP as the rotation axis. On the other hand, the tilt axis rotation mechanism 104b of the pan head 104 can rotate the first optical axes OL1 and OL2 of the first camera 100 and the second camera 102, respectively, along a vertical plane (z, x plane) with the tilt axis OT as the rotation axis.

The reference image plate 106 is fixed to the support 109. The reference image plate 106 is disposed opposite the imaging surface of the second camera 102 and has a chart including multiple sections. The light-shielding cover 108 blocks external light, as shown in FIG. 3. The support 109 supports the camera platform (gimbal) 104, the reference image plate 106, and the external dome 110.

The external dome 110 is a transparent cover that insulates the first camera 100, the second camera 102, the camera platform 104, the reference image plate 106, the light-shielding cover 108, the light source 112, and the like from the outside air. This makes it possible to suppress the effects of rainfall, etc.

FIG. 3 is a perspective view showing the second camera 102, the light source 112, and the light-shielding cover 108. The reference image plate 106 and the external dome 110 are removed. The light source 112 is, for example, an LED (Light Emitting Diode), and illuminates the reference image plate 106. The second camera 102 captures the reference image plate 106 illuminated by the light source 112. As shown in FIGS. 2 and 3, the light-shielding cover 108 blocks external light. This allows the illuminance when the second camera 102 captures the reference image plate 106 to be kept constant. This makes it possible to process the second image captured by the second camera 102 under the same conditions without performing gradation processing, etc., in the panoramic image synthesis process described below.

FIG. 4 is a perspective view of the imaging device 10, with the external dome 110 removed. FIG. 5 is a perspective view of the entire imaging device 10. The overall size of the imaging device 10 is, for example, within 10 centimeters in both length and width. Such an imaging device 10 can also be attached, for example, to the ceiling of the monitoring area.

FIG. 6 is a diagram showing a schematic diagram of the manufacturing process of the reference image plate 106. FIG. 6(a) is a cross-sectional view of the base member 1060 of the reference image plate 106. The base member 1060 is a transparent spherical member. The base member 1060 is, for example, acrylic, polycarbonate, or the like. The spherical member is, for example, a part of a hollow sphere with a center point c106.

Figure 6(b) is a diagram showing the process of applying white paint 1062 to base member 1060. White paint 1062 is applied from the outside of base member 1060. Figure 6(c) is a diagram showing the process of drawing the lines of the chart in white paint 1062. White paint 1062 is applied. The lines of the chart are drawn by peeling off the drawing/paint with a very fine laser from the outside of the white paint 1062.

FIG. 6(c) is a diagram showing the process of drawing the lines of the chart and applying black paint 1064 to the white paint 1062. The lines of the chart are drawn and the light-blocking black paint 1064 is applied from the outside of the white paint 1062. FIG. 6(e) is a diagram showing the squares 106a that make up the chart diagram. In this way, the squares 106a are drawn in a checkerboard pattern on the base member 1060, and the reference image plate 106 is manufactured. The combination of white and black and white in the chart is a combination that maximizes contrast, but is not limited to this. For example, other color combinations are also possible as long as there is a certain level of contrast required for the chart to be recognized.

Here, the relationship between the reference image plate 106, the first optical axis OL1 of the first camera 100, and the second optical axis OL2 of the second camera 102 will be described with reference to Figs. 7 and 8. Fig. 7 is a schematic diagram showing a zx-axis cross section passing through intersection point C of the spherical reference image plate 106. Fig. 8 is a schematic diagram showing a yx-axis cross section passing through intersection point C of the spherical reference image plate 106. As shown in Figs. 7 and 8, the center point c106 of the sphere of the reference image plate 106 is disposed, for example, at the same position as intersection point C (see Fig. 2). With such an arrangement, a distance is always maintained between the imaging surface of the second camera 102 on the second optical axis OL2 of the second camera 102 and the inner surface of the sphere of the reference image plate 106.

FIG. 9 is a conceptual diagram that shows a schematic representation of the inner surface of the reference image plate 106 facing the second camera 102. On the inner surface of the reference image plate 106 facing the second camera 102, a chart of squares 106a is drawn in a checkerboard pattern. For ease of explanation, the squares 106a are drawn as straight lines, but because they are drawn on a spherical surface as described above (see FIG. 6), when viewed in a plan view, each side will be curved depending on its position. In addition, each square 106a may have an identification symbol 106c drawn on it to indicate its position. The identification symbol 106c is, for example, a different number or QR code for each square 106a.

The center coordinates and arrangement coordinates of each rectangle 106a are associated with the identification symbol 106c and stored in the memory unit 202 (see FIG. 12). As a result, when the identification symbol 106c is recognized, the coordinates can be acquired when generating a panoramic image. This makes it possible to grasp the arrangement position of the image 100a (see FIG. 10) when arranging the image 100a of each section, eliminating the need to adjust the zero point of the image 100a. This also eliminates the need for angle sensors and encoders, enabling further miniaturization.

7 and 8 again, the second angle of view of the second camera 102 is set to correspond to the second captured image 106b, which is a margin range that includes the reference rectangle 106a. The range of this second captured image 106b reflects the mechanical accuracy of the mechanical drive unit in the imaging device 10. In this embodiment, the second camera 102 captures the rectangle 106a, for example, in the numerical order of FIG. 9. In this case, if there is no deviation in the mechanical control of the mechanical drive unit, it is possible to capture only the rectangle 106a, but the range of the second captured image 106b is set by expanding the rectangle 106a in all directions, taking into account the control deviation. The range of the rectangle in this second captured image 106b corresponds to the second angle of view of the second camera 102.

For example, when the imaging device 10 captures images of the squares 106a in sequence, the shift in the center point of the square 106a in the second captured image 106b is reflected. For example, if the range of the center point shift is ±5 mm, the range of the square in the second captured image 106b is the range of the square 106a expanded by 5 mm. In other words, for example, due to the mechanical precision of the mechanical drive unit in the imaging device 10, when the squares 106a are captured in sequence, the second angle of view is set so that the square 106a is always included. This also makes it possible to combine images without using images of areas with poor image quality surrounding the square 106a.

FIG. 10 is a schematic diagram showing an example of the squares 106a of the chart captured at different tilt angles in the arrangement example shown in FIG. 7. That is, this is an example of the squares 106a captured by tilting the second camera 102 about the tilt axis OT (see FIG. 2) that passes through the intersection C. In this way, by making the center point c106 of the sphere of the reference image plate 106 coincide with the intersection C, each square 106a can be captured with the same shape regardless of the tilt angle at which it is captured. Similarly, each square 106a can be captured with the same shape regardless of the pan angle at which it is captured.

Also, as shown in FIG. 10, the first angle of view of the first camera 100 is set to be equal to or greater than the second angle of view of the second camera 102. As can be seen from this, when the rectangles 106a of the chart are captured in succession in sequence, the capturing range of the first captured image 100b of the first camera 100 is also captured in succession with some overlap. At this time, the first captured image 100b includes a first square area 100a corresponding to the area of the rectangle 106a included in the second image of the second camera 102. Furthermore, the vertical and horizontal angles of view of the area of the rectangle 106a and the first square area 100a are configured to be equal.

11 is a diagram showing a schematic relationship between the first captured image 100b of the first camera 100 and the second captured image 106b of the second camera 102. As shown in FIG. 11, when the squares 106a of the chart on the reference image board 106 are captured in succession, the first captured images 100b are also captured in succession. As described above, the first square area 100a corresponding to the area of the square 106a is included in the capture range of the first captured image 100b. The capture of the first captured image 100b and the second captured image 106b is performed under the control of the information processing device 20. That is, the drive control unit arranged in the drive space 104s (see FIG. 2) causes the second camera 102 to capture the squares 106a, which are the multiple sections of the chart, in a predetermined order, and causes the first camera 100 to capture the images according to the capture of the second camera 102.

FIG. 12 is a block diagram showing an example configuration of the information processing device 20. The information processing device 20 has a camera control unit 200, a memory unit 202, a partition processing unit 204, a synthesis processing unit 206, a calibration processing unit 208, a display control unit 210, and a communication unit 212. The CPU of the information processing device 20 can configure the camera control unit 200, the partition processing unit 204, the synthesis processing unit 206, the calibration processing unit 208, and the display control unit 210 by executing a program stored in the memory unit 202. Alternatively, each unit may be configured with an electronic circuit.

The camera control unit 200 controls the imaging positions of the first camera 100 and the second camera 102 through control of the drive control unit in the driving space 104s (see FIG. 2), and causes the first captured image 100b and the second captured image 106b to be captured at each imaging position. The storage unit 202 stores programs, various control parameters, captured images, etc.

The partition processing unit 204 recognizes the numbers in the second captured image 106b, and recognizes the coordinates indicating the range of the rectangle 106a from within the second captured image 106b. The partition processing unit 204 then generates a first rectangular area 100a from the first captured image 100b based on the coordinates indicating the range of the rectangle 106a, and stores this in the memory unit 202 in association with the recognized identification symbol. The memory unit 202 stores programs, various control parameters, captured images, and the like. In other words, the memory unit 202 stores placement information corresponding to the rectangle 106a, which is a partition.

The synthesis processing unit 206 synthesizes a panoramic image based on the identification symbol associated with the first square area 100a stored in the memory unit 202 and the arrangement information. The calibration processing unit 208, for example, causes the second camera 102 to capture an image of each square 106a of the reference image board 106. Then, the partition processing unit 204 calculates the coordinates and center coordinates indicating the range of the square 106a as arrangement information, associates it with the recognized identification symbol (e.g., a number), and stores it in the memory unit 202 as shooting parameters.

The display control unit 210 causes the first display device 30 to display the panoramic image generated by the synthesis processing unit 206. The communication unit 212 transmits the panoramic image to the monitoring device 40 via a communication interface (not shown).

Here, a processing example of each unit in FIG. 12 will be described in more detail with reference to FIG. 11 and FIG. 13. FIG. 13 is a diagram that illustrates a processing example of the information processing device 20.

13(a) is a diagram showing a first captured image 100b of the first camera 100 and a second captured image 106b of the second camera 102. As shown in FIG. 13(a), the camera control unit 200 controls the imaging positions of the first camera 100 and the second camera 102 to capture the first captured image 100b and the second captured image 106b at each imaging position. At this time, the camera control unit 200 controls the second optical axis OL2 of the second camera 102 to coincide with the central coordinates of the rectangle 106a stored in the storage unit. The camera control unit 200 then causes the first camera 100 to capture the first captured image 100b at this imaging position, and the second camera 102 to capture the second captured image 106b at this imaging position.

13(b) is a diagram showing an example of the recognition process of the range of the square 106a from the second captured image 106b. As shown in FIG. 13(b), the partition processing unit 204 recognizes the coordinates indicating the square 106a and the identification symbol while referring to the coordinate information of the square 106a stored in the memory unit 202. Next, the partition processing unit 204 sets the range corresponding to the coordinates indicating the recognized square 106a in the first captured image 100b, generates the first square area 100a, associates it with the recognized identification symbol, and stores it in the memory unit 202. In addition, since the imaging range of the second captured image 106b is limited and the square 106a is a rectilinear figure, it is possible to obtain the coordinate information of the square 106a with higher recognition accuracy than feature points in the image.

FIG. 13(c) is a conceptual diagram of the panoramic synthesis process using the first square region 100a. As shown in FIG. 13(c), the synthesis processing unit 206 synthesizes a panoramic image based on the identification symbol associated with the first square region 100a stored in the memory unit 202 and the coordinates at which the region should be placed. This process is repeated for all of the squares 106a in order. The synthesis processing unit 206 may perform the process after all of the first square regions 100a have been generated, or the synthesis process may be performed sequentially during shooting. In this way, by performing the panoramic synthesis process based on the coordinate information of the squares 106a, it is possible to perform the panoramic synthesis process with a higher alignment accuracy than the accuracy of mechanical driving in the imaging device 10.

FIG. 14 is a block diagram showing an example of the configuration of the monitoring device 40. The monitoring device 40 has a storage unit 402, a partition processing unit 204, a composition processing unit 206, a calibration processing unit 208, a display control unit 410, and a communication unit 412. The monitoring device 40 may also have a configuration including the partition processing unit 204, the composition processing unit 206, and the calibration processing unit 208. The CPU of the monitoring device 40 can configure the partition processing unit 204, the composition processing unit 206, the calibration processing unit 208, and the display control unit 210 by executing a program stored in the storage unit 402. Alternatively, each unit may be configured using electronic circuits.

The storage unit 402 stores programs, various control parameters, captured images, etc. The display control unit 410 displays the panoramic image acquired via the communication unit 412 on the second display device 50. The communication unit 412 receives the panoramic image from the information processing device 20. With this configuration, the panoramic image can be generated by the information processing device 20 on the edge side, or by the monitoring device 40 on the server side. This makes it possible to select a configuration that is adapted to the processing volume, communication frequency, communication volume, etc. of the information processing device 20, the cost on the camera side, available power, communication infrastructure, etc.

As described above, the imaging device 10 according to this embodiment is configured to include a first camera 100, a second camera 102 fixed to the first camera 100, and a reference image board 106 having a chart including multiple sections, which is disposed opposite the imaging surface of the second camera 102. This makes it possible to synthesize image data captured by the first camera 100 based on image data including the sections captured by the second camera 102.

Second Embodiment
The imaging device 10a according to the second embodiment differs from the imaging device 10 according to the first embodiment in that the second camera 102 is disposed on the first camera 100 side of the pan axis OP. The differences from the imaging device 10 according to the first embodiment will be described below.

FIG. 15 is a vertical cross-sectional view of the imaging device 10a according to the second embodiment. As shown in FIG. 15, the second camera 102 according to the second embodiment differs from the imaging device 10 according to the first embodiment in that it is disposed on the first camera 100 side of the pan axis OP. This shortens the distance from the second camera 102 to the reference image plate 106, making it possible to miniaturize the reference image plate 106. In addition, the second camera 102 can be configured to be enclosed within the inner surface of the reference image plate 106. This makes it possible to expand the pan angle of the imaging device 10a according to the second embodiment from 0 degrees to 360 degrees. In addition, since the overlapping cover prevents light from entering, it is possible to obtain the same effect as the light-shielding cover 108 (see FIG. 5).

FIG. 16 is a cross-sectional perspective view of the reference image plate 106. As shown in FIG. 16, the light source 112, which is an illumination LED, is disposed on the back surface of the second camera 102. FIG. 17 is a vertical cross-sectional view of the reference image plate 106. As shown in FIG. 17, the illumination light L112 from the light source 112 suppresses reflections on the second camera 102 and can indirectly illuminate the interior in a uniform manner, resulting in a more stable exposure of the second camera 102. In addition, the overlapping cover prevents light from entering the interior, making it possible to obtain the same effect as the light-shielding cover 108 (see FIG. 5).

Figure 18 is a vertical cross-sectional view showing an example of tilting the first camera 100 and the second camera 102 with respect to the tilt axis OT. Figure 18(a) shows the case where the tilt angle is 15 degrees downward, and Figure 18(b) shows the case where the tilt angle is 15 degrees upward. The hole on the lower side of the reference image plate 106 is configured to be covered by a cover that overlaps with the hole in the camera frame 104c, even when tilted up and down. Figure 19 is a perspective view showing the entire imaging device 10a. The overall size of the imaging device 10a is, for example, within 10 centimeters in both length and width. Such an imaging device 10a can also be attached to, for example, the ceiling of a monitoring area.

As described above, in the imaging device 10a according to this embodiment, the second camera 102 is arranged on the first camera 100 side of the pan axis OP. This shortens the distance from the second camera 102 to the reference image plate 106, making it possible to miniaturize the reference image plate 106. In addition, the second camera 102 can be configured to be contained within the inner surface of the reference image plate 106. This makes it possible to expand the pan angle of the imaging device 10a from 0 degrees to 360 degrees.

Third Embodiment
The imaging device 10b according to the third embodiment differs from the imaging device 10a according to the second embodiment in that the second camera 102 is disposed on the first camera 100 side of the pan axis OP and performs only pan (panoramic) operations. The differences from the imaging device 10b according to the second embodiment will be described below.

FIG. 20 is a vertical cross-sectional view of an imaging device 10b according to the third embodiment. FIG. 21 is an oblique cross-sectional view with the external dome 110 removed. As shown in FIGS. 20 and 21, the imaging device 10b according to the third embodiment differs from the imaging device 10a according to the second embodiment in that it does not have a tilt axis rotation mechanism 104b. This allows the imaging device 10b according to the third embodiment to be made smaller, and also allows for a simplified structure and reduced costs.

Figure 22 is a perspective view showing the entire imaging device 10b with the external dome 110 removed. The overall size of the imaging device 10a is, for example, within 10 centimeters in both length and width. Such an imaging device 10a can also be attached to, for example, the ceiling of the monitoring area.

FIG. 23 shows a first captured image 100b captured by the first camera 100, and a first square area 100a corresponding to the area of the square 106a. In the imaging device 10b according to the third embodiment, the first captured image 100b is captured as a rectangle with its long side in the vertical direction. In this way, when the tilt axis rotation mechanism 104b is not provided, the pixels of the first camera 100 can be used effectively by positioning the camera so that its angle of view is vertically long.

As described above, in the imaging device 10b according to this embodiment, the second camera 102 is placed on the first camera 100 side of the pan axis OP, and is only allowed to perform pan (panoramic) movements. This makes it possible to further miniaturize the imaging device 10b.

This technology can be configured as follows:

(1)
a first camera; and a second camera fixed to the first camera.
a reference image plate disposed opposite to an imaging surface of the second camera and having a chart including a plurality of sections;
An imaging device comprising:

(2)
the first camera and the second camera are rotatable about a pan axis;
The imaging device according to (1), wherein a second optical axis of the imaging system of the second camera has an intersection with a pan axis.

(3)
The imaging device according to (2), wherein a first optical axis of the imaging system of the first camera has an intersection with the pan axis.

(4)
The imaging device according to (1), wherein the reference image plate has a chart including a plurality of divisions on at least a portion of an inner surface of a hollow sphere.

(5)
The imaging device according to (4), wherein the chart is drawn as a black rectangular diagram on a white background.

(6)
the first camera and the second camera are rotatable about a pan axis;
The imaging device described in (5) above, wherein the center of the reference image plate is on the pan axis.

(7)
The imaging device according to (3), wherein the first optical axis and the second optical axis are coaxial.

(8)
The imaging device described in (7) above, wherein the imaging system of the second camera is disposed closer to the first camera than the pan axis.

(9)
the first camera and the second camera are rotatable about a tilt axis;
The imaging device according to (8), wherein the tilt axis passes through the intersection point.

(10)
a light source for illuminating the chart;
The imaging device according to (9), further comprising a light-shielding cover that blocks the illumination.

(11)
a camera frame supporting the first camera and the second camera;
The imaging device according to (10), wherein the light source and the light-shielding cover are supported by the camera frame.

(12)
The imaging device of (11), further comprising a transparent outer dome covering the first camera, the second camera, the camera frame, the light source, and the light-shielding cover.

(13)
The imaging device according to (12), further comprising a drive control unit that causes the second camera to capture images of a plurality of sections of the chart in a predetermined order and causes the first camera to capture images in response to the images captured by the second camera.

(14)
The imaging device according to (13), wherein the first camera and the second camera have fixed angles of view, and the angle of view of the first camera is equal to or greater than the angle of view of the second camera.

(15)
a synthesis processing unit that synthesizes a plurality of image data output from a first camera fixed to a second camera based on image data of the second camera that captures an image of a chart including a plurality of partitions;
Provided with an information processing device.

(16)
a partition processing unit that generates first partition image data of the first camera corresponding to the partition in the second image data of the second camera,
The information processing device according to (15), wherein the synthesis processing unit synthesizes the first section image data.

(17)
Further comprising a storage unit for storing arrangement information corresponding to the partitions,
The information processing device according to (16), wherein the synthesis processing unit synthesizes the first section image data based on the arrangement information.

(18)
The partition processing unit recognizes an identification symbol corresponding to the partition,
The information processing device according to (17), wherein the synthesis processing unit synthesizes the first section image data based on the identification symbol.

(19)
The information processing device according to (17), further comprising a calibration unit that generates the arrangement information based on an image captured of a chart including the plurality of sections and stores the arrangement information in the storage unit.

(20)
An imaging device;
An imaging system including an information processing device,
The imaging device includes:
a first camera; and a second camera fixed to the first camera.
a reference image plate disposed opposite to an imaging surface of the second camera and having a chart including a plurality of sections;
having
The information processing device includes:
a synthesis processing unit that synthesizes a plurality of image data output from the first camera based on image data of the second camera that captures an image of a chart including the plurality of partitions;
An imaging system comprising:

(21)
The information processing device includes:
The imaging system according to (19), further comprising a camera control unit that causes the second camera to capture images of the multiple sections of the chart in a predetermined order and causes the first camera to capture images in response to the images captured by the second camera.

The aspects of the present disclosure are not limited to the individual embodiments described above, but include various modifications that may be conceived by a person skilled in the art, and the effects of the present disclosure are not limited to the above. In other words, various additions, modifications, and partial deletions are possible within the scope that does not deviate from the conceptual idea and intent of the present disclosure derived from the contents defined in the claims and their equivalents.

1: Imaging system, 10, 10a, 10b: Imaging device, 20: Information processing device, 100: First camera, 102: Second camera, 108: Light shielding cover, 106: Reference image plate, 110: External dome, 112: Light source, OL1: First optical axis, OL2: Second optical axis, OP: Pan axis, OT: Tilt axis.

Claims (20)

a first camera; and a second camera fixed to the first camera.
a reference image plate disposed opposite to an imaging surface of the second camera and having a chart including a plurality of sections;
An imaging device comprising: the first camera and the second camera are rotatable about a pan axis;
The imaging device according to claim 1 , wherein a second optical axis of the imaging system of the second camera has an intersection with a pan axis. The imaging device according to claim 2, wherein a first optical axis of the imaging system of the first camera has an intersection with the pan axis. The imaging device of claim 1, wherein the reference image plate has a chart including multiple compartments on at least a portion of the inner surface of a hollow sphere. The imaging device of claim 4, wherein the chart is drawn as a black rectangular diagram on a white background. the first camera and the second camera are rotatable about a pan axis;
The imaging device of claim 5 , wherein the center of the reference image plate is on a pan axis. The imaging device according to claim 3, wherein the first optical axis and the second optical axis are coaxial. The imaging device according to claim 7, wherein the imaging system of the second camera is disposed closer to the first camera than the pan axis. the first camera and the second camera are rotatable about a tilt axis;
The imaging device of claim 8 , wherein the tilt axis passes through the intersection point. a light source for illuminating the chart;
The imaging device according to claim 9 , further comprising: a light-shielding cover that blocks the illumination. a camera frame supporting the first camera and the second camera;
The imaging device according to claim 10 , wherein the light source and the light-shielding cover are supported by the camera frame. The imaging device of claim 11, further comprising a transparent outer dome that covers the first camera, the second camera, the camera frame, the light source, and the light-shielding cover. The imaging device according to claim 12, further comprising a drive control unit that causes the second camera to capture images of the multiple sections of the chart in a predetermined order and causes the first camera to capture images in response to the images captured by the second camera. The imaging device according to claim 13, wherein the angles of view of the first camera and the second camera are fixed, and the angle of view of the first camera is equal to or greater than the angle of view of the second camera. a synthesis processing unit that synthesizes a plurality of image data output from a first camera fixed to a second camera based on image data of the second camera that captures an image of a chart including a plurality of partitions;
Provided with an information processing device. a partition processing unit that generates first partition image data of the first camera corresponding to the partition in the second image data of the second camera,
The information processing apparatus according to claim 15 , wherein the synthesis processing unit synthesizes the first section image data. Further comprising a storage unit for storing arrangement information corresponding to the partitions,
The information processing apparatus according to claim 16 , wherein the synthesis processing unit synthesizes the first section image data based on the layout information. The partition processing unit recognizes an identification symbol corresponding to the partition,
The information processing apparatus according to claim 17 , wherein the synthesis processing unit synthesizes the first section image data based on the identification symbol. The information processing device according to claim 17, further comprising a calibration unit that generates the arrangement information based on an image of a chart including the plurality of sections and stores the arrangement information in the storage unit. An imaging device;
An imaging system including an information processing device,
The imaging device includes:
a first camera; and a second camera fixed to the first camera.
a reference image plate disposed opposite to an imaging surface of the second camera and having a chart including a plurality of sections;
having
The information processing device includes:
a synthesis processing unit that synthesizes a plurality of image data output from the first camera based on image data of the second camera that captures an image of a chart including the plurality of partitions;
An imaging system comprising: