Stereoscopic imaging apparatus

• US 10,218,960 B2
• Filed: 10/01/2012
• Issued: 02/26/2019
• Est. Priority Date: 10/18/2011
• Status: Active Grant

• Current Assignee: Hitachi Astemo Ltd. (Hitachi, Ltd.)
• Original Assignee: Hitachi Automotive Systems Limited (Hitachi, Ltd.)
• Inventors: Ichige, Atsushi
• Primary Examiner(s): Kelley, Christopher S
• Assistant Examiner(s): Walsh, Kathleen M
• Application Number:
  US14/347,899
• Publication Number:
  US 20140232830A1
• Time in Patent Office: 2,339 Days
• Field of Search: 348 42, 348 47
• CPC Class Codes: G03B 35/08 by simultaneous recording
• CPC Class Codes: H04N 13/111 Transformation of image signals corresponding to virtual viewpoints, e.g. spatial image interpolation
• CPC Class Codes: H04N 13/128 Adjusting depth or disparity
• CPC Class Codes: H04N 13/133 Equalising the characteristics of different image components, e.g. their average brightness or colour balance
• CPC Class Codes: H04N 13/239 using two 2D image sensors having a relative position equal to or related to the interocular distance H04N13/243 takes precedence
• CPC Class Codes: H04N 2013/0081 Depth or disparity estimation from stereoscopic image signals
• CPC Class Codes: H04N 2013/0088 Synthesising a monoscopic image signal from stereoscopic images, e.g. synthesising a panoramic or high resolution monoscopic image

Abstract

In order to provide a stereoscopic imaging apparatus that can acquire, in a case in which a brightness different is large, parallax information containing a parallax image in all image capturing frames, provided are an image acquisition unit that acquires a first image and a second image different from the first image in exposure time, a gain and offset correction unit 102 that corrects brightness of one of the acquired first and second images, a parallax calculation unit 103 that calculates parallax from one of the images corrected by the brightness correction unit and the other of the images and outputs a parallax image and parallax information, and a combination image generation unit 105 that combines the acquired first and second images together to generate a combination image and outputs the generated combination image.

Claims

1. A stereoscopic imaging apparatus, comprising:

an image acquisition unit configured to acquire a first image and a second image different from the first image in exposure time;

a brightness correction unit configured to correct brightness of one of the acquired first and second images;

a parallax calculation unit configured to calculate parallax from one of the images corrected by the brightness correction unit and the other images and to output a parallax image and parallax information;

a combination image generation unit configured to combine the acquired first and second images together to generate a wide dynamic range image based on selected image regions of the first image and second image and the parallax information, and to output the generated wide dynamic range image;

an image selector unit configured to select any of the first image, the second image different from the first image in exposure time, the parallax image, and the wide dynamic range image and to output the selected image to an image processor; and

an image determination unit configured to receive the first image, the second image different from the first image in exposure time, and the wide dynamic range image and to select one of the received images based on requirements of an imaging process to be performed by the image processor and to output the selection of one of the first image, the second image different from the first image in exposure time, and the wide dynamic range image to the image selector unit, wherein

the image determination unit is configured to determine exposure times of imaging devices such that a bright image and a dark image can be captured, based on outside factor information input from an outside factor unit, and to output the determined exposure times to the imaging devices.

2. The stereoscopic imaging apparatus according to claim 1, wherein

the image determination unit is configured to determine the exposure times of the imaging devices for each frame.

3. The stereoscopic imaging apparatus according to claim 1, further comprising

an outside image selection unit configured to issue an image selection command to the image selector unit, wherein

the image selector unit is configured to select an image based on the selection of the image determination unit and the image selection command.

4. The stereoscopic imaging apparatus according to claim 3, wherein

the outside factor information is vehicle lamp lighting information.

5. The stereoscopic imaging apparatus according to claim 3, wherein

the outside factor information is information related to whether it is night-time.

11. The stereoscopic imaging apparatus according to claim 1, wherein the combination image generation unit is further configured to select the image regions of the first image and the second image based on the parallax information.

6. A method for stereoscopic imaging, comprising:

acquiring, by an image acquisition unit, a first image and a second image different from the first image in exposure time;

correcting, by a brightness correction unit, a brightness of one of the acquired first and second images;

calculating, by a parallax calculation unit, parallax from one of the images corrected by the brightness correction unit and the other images;

outputting, by the parallax calculation unit, a parallax image and parallax information;

combining, by a combination image generation unit, the acquired first and second images together to generate a wide dynamic range image based on selected image regions of the first image and second image and the parallax information, and outputting the generated wide dynamic range image;

selecting, by an image selector unit, any of the first image, the second image different from the first image in exposure time, the parallax image, and the wide dynamic range image and outputting the selected image to an image processor;

selecting, by an image determination unit to which the first image, the second image different from the first image in exposure time, and the wide dynamic range image are input, one of the input images based on requirements of an imaging process to be performed by the image processor and outputting the selected one of the first image, the second image different from the first image in exposure time, the parallax image, and the wide dynamic range to the image selector unit; and

determining, by the image determination unit, exposure times of imaging devices such that a bright image and a dark image can be captured, based on outside factor information input from an outside factor unit, and outputting the determined exposure times to the imaging devices.

7. The method for stereoscopic imaging according to claim 6, wherein

the image determination unit determines the exposure times of the imaging devices for each frame.

8. The method for stereoscopic imaging according to claim 6, further comprising

issuing, by an outside image selection unit, an image selection command to the image selector unit, wherein

the image selector unit selects an image based on the selection of the image determination unit and the image selection command.

9. The method for stereoscopic imaging according to claim 6, wherein

the outside factor information is vehicle lamp lighting information.

10. The method for stereoscopic imaging according to claim 6, wherein

the outside factor information is information related to whether it is night-time.

12. The method for stereoscopic imaging according to claim 6, further comprising selecting, by the combination image generation unit, the image regions of the first image and the second image based on the parallax information.