Stereo camera system and stereo optical module

• US 20060077543A1
• Filed: 11/29/2005
• Published: 04/13/2006
• Est. Priority Date: 05/29/2003
• Status: Active Grant

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: Miyoshi, Takashi, Iwaki, Hidekazu, Arai, Kazuhiko, Kosaka, Akio
• Granted Patent: US 7,386,226 B2
• Time in Patent Office: Days
• US Class Current: 359/407
• CPC Class Codes: H04N 13/133 Equalising the characteristics of different image components, e.g. their average brightness or colour balance

Abstract

This stereo camera system is constituted of a stereo optical module which acquires a stereo image, a central control unit which evaluates an object as a target based on the stereo image acquired by the stereo optical module, and a communication line through which stereo image data output from the stereo optical module is input to the central control unit. Further, in this stereo camera system, an image output processing circuit which performs predetermined image processing with respect to the stereo image acquired by the stereo optical module is provided in the stereo optical module, whereby this image output processing circuit performs a correction arithmetic operation which corrects unbalance at the time of capturing the stereo image.

Claims

1. A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

a stereo optical module which acquires a stereo image;

a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module; and

a communication line through which the stereo image data acquired by the stereo optical module is input to the central control unit,

wherein the stereo optical module comprises;

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images generated by the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to thereby generate digital stereo image data;

an image output processing circuit which performs predetermined image processing to the digital stereo image data generated by the analog-to-digital converting section; and

a module side communication interface which outputs stereo image data subjected to image processing by the image output processing circuit, and

the central control unit comprises;

a unit side communication interface which inputs the stereo image data output through the module side communication interface; and

a range image evaluation device which obtains a distance to the object as a target based on the stereo image data input through the unit side communication interface, in order to evaluate the object based on the stereo image obtained by the stereo optical module.

2. The stereo camera system according to claim 1, wherein the image output processing circuit includes a rectification processing circuit which performs rectification processing with respect to the digital stereo image data generated in the analog-to-digital converting section.

3. The stereo camera system according to claim 1, wherein the image output processing circuit includes a γ

conversion processing circuit which performs γ

conversion processing with respect to the digital stereo image data generated in the analog-to-digital converting section.

4. The stereo camera system according to claim 1, wherein the image output processing circuit includes a shading correction processing circuit which performs shading correction processing with respect to the digital stereo image data generated in the analog-to-digital converting section.

5. The stereo camera system according to claim 1, wherein the stereo optical module further comprises an optical color filter which separates each stereo image into a plurality of color components on a light incidence side of the imaging element, and

the image output processing circuit further comprises a conversion circuit which carries out processing of converting the digital stereo image data generated in the analog-to-digital converting section into a luminance signal and a chrominance signal.

6. The stereo camera system according to claim 1, wherein the module side communication interface outputs the stereo image data as digital image data to the communication line.

7. The stereo camera system according to claim 6, wherein the module side communication interface subjects the stereo image data to data compression and outputs the compressed data to the communication line.

8. The stereo camera system according to claim 7, wherein a data compression scheme in the data compression is a data compression scheme which is in conformity to Motion-JPEG standard.

9. The stereo camera system according to claim 7, wherein a data compression scheme in the data compression is a data compression scheme which is in conformity to MPEG standard.

10. The stereo camera system according to claim 7, wherein a data compression scheme in the data compression is a data compression scheme which is in conformity with DV standard.

11. The stereo camera system according to claim 6, wherein the module side communication interface converts the stereo image data into digital data which is in conformity to IEEE 1394 standard and outputs the converted data to the communication line.

12. The stereo camera system according to claim 6, wherein the module side communication interface converts the stereo image data into digital data which is in conformity to USB standard and outputs the converted data to the communication line.

13. The stereo camera system according to claim 6, wherein the module side communication interface converts the stereo image data into digital data which is in conformity to Ethernet standard and outputs the converted data to the communication line.

14. The stereo camera system according to claim 1, wherein the module side communication interface outputs the stereo image data as analog image data to the communication line.

15. The stereo camera system according to claim 14, wherein the module side communication interface converts the stereo image data into analog image data which is in conformity to NTSC standard and outputs the converted data to the communication line.

16. The stereo camera system according to claim 14, wherein the module side communication interface converts the stereo image data into analog image data which is in conformity to PAL standard and outputs the converted data to the communication line.

17. The stereo camera system according to claim 1, wherein the stereo optical module further has a temperature sensor which detects an ambient temperature of the stereo optical module, and the module side communication interface outputs temperature data detected by the temperature sensor to the communication line.

18. The stereo camera system according to claim 1, wherein the stereo optical module further has a rain drop sensor which detects a quantity of rain drops, and the module side communication interface outputs rain drop data detected by the rain drop sensor to the communication line.

19. The stereo camera system according to claim 1, wherein the stereo optical module further has a correction information memory which stores calibration data of the stereo camera system,

the module side communication interface outputs the calibration data stored in the correction information memory to the communication line, and

the range image evaluation device obtains a distance to the object as a target based on the stereo image data output from the unit side communication interface and the calibration data.

20. The stereo camera system according to claim 19, wherein the calibration data stored in the correction information memory is calibration data which is used to correct unbalance generated between a pair of stereo image data.

21. The stereo camera system according to claim 20, wherein the calibration data which is used to correct unbalance generated between the pair of stereo image data is calibration data which is used to perform rectification processing to the stereo image data.

22. The stereo camera system according to claim 20, wherein the calibration data which is used to correct unbalance generated between the pair of stereo image data is calibration data which is used to perform shading correction processing with respect to the stereo image data.

23. The stereo camera system according to claim 1, wherein the range image evaluation device calculates range image data.

24. The stereo camera system according to claim 1, wherein the central control unit further has surrounding judging section which recognizes an obstacle ahead of the stereo camera system and judges a distance to the obstacle.

25. The stereo camera system according to claim 24, wherein the obstacle is an automobile traveling ahead of the stereo camera system.

26. The stereo camera system according to claim 24, wherein the surrounding judging section detects a white line of a road ahead of the stereo camera system.

27. The stereo camera system according to claim 1, wherein the central control unit further has a driving support device which supports driving of a mobile body in which the stereo camera system is mounted.

28. The stereo camera system according to claim 27, wherein the driving support device includes warning section which gives a warning to a driver who drives the mobile body.

29. The stereo camera system according to claim 27, wherein the driving support device includes displaying section which gives information in the form of display to a driver who drives the mobile body.

30. The stereo camera system according to claim 27, wherein the driving support device outputs control information to a movement control device which controls movement of a mobile body in which the stereo camera system is mounted.

31. The stereo camera system according to claim 1, wherein the central control unit further has an information input device which inputs information from the outside of the stereo camera system.

32. The stereo camera system according to claim 31, wherein the information input device is a device which manually inputs information.

33. The stereo camera system according to claim 31, wherein the information input from the information input device is information input from a control device which controls movement of a mobile body in which the stereo camera system is mounted.

34. A stereo optical module for use in a stereo camera system which comprises:

the stereo optical module which obtains a stereo image;

a central control unit which evaluates an object as a target based on the stereo image obtained by the stereo optical module; and

a communication line through which stereo image data output from the stereo optical module is input to the central control unit, the stereo camera system shooting object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object,

the stereo optical module comprising;

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images generated in the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;

an image output processing circuit which performs predetermined image processing with respect to the digital stereo image data generated by the analog-to-digital converting section; and

a module side communication interface which outputs stereo image data subjected to the image processing in the image output processing circuit to the communication line.

35. The stereo optical module according to claim 34, wherein the image output processing circuit includes a rectification processing circuit which performs rectification processing with respect to the digital stereo image data generated by the analog-to-digital converting section.

36. The stereo optical module according to claim 34, wherein the image output processing circuit includes a γ

conversion processing circuit which performs γ

conversion processing with respect to the digital stereo image data generated by the analog-to-digital converting section.

37. The stereo optical module according to claim 34, wherein the image output processing circuit includes a shading correction processing circuit which performs shading correction processing with respect to the digital stereo image data generated by the analog-to-digital converting section.

38. The stereo optical module according to claim 34, wherein the stereo optical module further includes an optical color filter which separates each stereo image into a plurality of color components on a light incidence side of the imaging element, and

the image output processing circuit further includes a conversion circuit which carries out processing of converting each digital stereo image data generated in the analog-to-digital converting section into a luminance signal and a chrominance signal.

39. The stereo optical module according to claim 34, wherein the module side communication interface outputs the stereo image data as digital image data to the communication line.

40. The stereo optical module according to claim 39, wherein the module side communication interface subjects the stereo image data to data compression, and outputs the compressed data to the communication line.

41. The stereo optical module according to claim 40, wherein a data compression scheme in the data compression is a data compression scheme which is in conformity to Motion-JPEG standard.

42. The stereo optical module according to claim 40, wherein a data compression scheme in the data compression is a data compression scheme which is in conformity to MPEG standard.

43. The stereo optical module according to claim 40, wherein a data compression scheme in the data compression is a data compression scheme which is in conformity to DV standard.

44. The stereo optical module according to claim 39, wherein the module side communication interface converts the stereo image data into digital data which is in conformity to IEEE 1394 standard, and outputs the converted data to the communication line.

45. The stereo optical module according to claim 39, wherein the module side communication interface converts the stereo image data into digital data which is in conformity to USB standard, and outputs the converted data to the communication line.

46. The stereo optical module according to claim 39, wherein the module side communication interface converts the stereo image data into digital data which is in conformity to Ethernet standard, and outputs the converted data to the communication line.

47. The stereo optical module according to claim 34, wherein the module side communication interface outputs the stereo image data as analog image data to the communication line.

48. The stereo optical module according to claim 47, wherein the module side communication interface converts the stereo image data into analog image data which is in conformity to NTSC standard, and outputs the converted data to the communication line.

49. The stereo optical module according to claim 47, wherein the module side communication interface converts the stereo image data into analog image data which is in conformity to PAL standard, and outputs the converted data to the communication line.

50. The stereo optical module according to claim 34, further having a temperature sensor which detects an ambient temperature of the stereo optical module, wherein the module side communication interface outputs temperature data detected by the temperature sensor to the communication line.

51. The stereo optical module according to claim 34, further having a rain drop sensor which detects a quantity of rain drops, wherein the module side communication interface outputs rain drop data detected by the rain drop sensor to the communication line.

52. The stereo optical module according to claim 34, further having a correction information memory which stores calibration data of the stereo camera system,

wherein the module side communication interface outputs the calibration data stored in the correction information memory to the communication line.

53. The stereo optical module according to claim 52, wherein the calibration data stored in the correction information memory is calibration data which is used to correct unbalance generated between a pair of stereo image data.

54. The stereo optical module according to claim 53, wherein the calibration data which is used to correct unbalance generated between the pair of stereo image data is calibration data which is used to perform rectification processing with respect to the stereo image data.

55. The stereo optical module according to claim 53, wherein the calibration data which is used to correct unbalance generated between the pair of stereo image data is calibration data which is used to perform shading correction processing with respect to the stereo image data.

56. A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

a stereo optical module which acquires a stereo image;

a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module; and

a communication line through which the stereo image data acquired in the stereo optical module is input to the central control unit,

the stereo optical module comprising;

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images generated by the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;

a correction information memory which stores calibration data of the stereo camera system;

an image output processing circuit which performs predetermined image processing based on the digital stereo image data generated by the analog-to-digital converting section and the calibration data stored in the correction information memory; and

a module side communication interface which outputs stereo image data subjected to the image processing by the image output processing circuit to the communication line, and

the central control unit comprising;

a unit side communication interface which inputs to the central control unit the stereo image data output to the communication line through the module side communication interface; and

a range image evaluation device which obtains a distance to the object as a target based on the stereo image data input through the unit side communication interface.

57. The stereo camera system according to claim 56, wherein the calibration data stored in the correction information memory is calibration data which is used to correct unbalance generated between a pair of stereo image data, and the image processing performed by the image output processing circuit is a correction arithmetic operation which corrects unbalance generated between the pair of stereo image data.

58. The stereo camera system according to claim 57, wherein the calibration data is data which is used to perform rectification processing with respect to the stereo image data, and the correction arithmetic operation is an arithmetic operation which performs rectification processing with respect to the stereo image data.

59. The stereo camera system according to claim 57, wherein the calibration data is data which is used to perform shading correction processing to the stereo image data, and the correction arithmetic operation is an arithmetic operation which performs shading correction processing with respect to the stereo image data.

60. A stereo optical module for use in a stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, the stereo camera system comprising:

the stereo optical module which obtains a stereo image;

a central control unit which evaluates the object as a target based on the stereo image obtained by the stereo optical module; and

a communication line through which stereo image data output from the stereo optical module is input to the central control unit,

the stereo optical module comprising;

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images generated in the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;

a correction information memory which stores calibration data of the stereo camera system;

an image output processing circuit which performs predetermined image processing based on the digital stereo image data generated by the analog-to-digital converting section and the calibration data stored in the correction information memory; and

a module side communication interface which outputs stereo image data subjected to the image processing in the image output processing circuit to the communication line.

61. The stereo camera system according to claim 60, wherein the calibration data stored in the correction information memory is calibration data which is used to correct unbalance generated between a pair of stereo image data, and the image processing performed by the image output processing circuit is a correction arithmetic operation which corrects unbalance generated between the pair of stereo image data.

62. The stereo camera system according to claim 61, wherein the calibration data is data which is used to perform rectification processing with respect to the stereo image data, and the correction arithmetic operation is an arithmetic operation which performs rectification processing with respect to the stereo image data.

63. The stereo camera system according to claim 61, wherein the calibration data is data which is used to perform shading correction processing with respect to the stereo image data, and the correction arithmetic operation is an arithmetic operation which performs shading correction processing with respect to the stereo image data.

64. A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

a stereo optical module which acquires a stereo image;

a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module; and

a communication line through which the stereo image data acquired in the stereo optical module is input to the central control unit,

the stereo optical module comprising;

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images generated by the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;

a correction information memory which stores calibration data of the stereo camera system, the calibration data including first calibration data and second calibration data;

an image output processing circuit which performs predetermined image processing based on the digital stereo image data generated by the analog-to-digital converting section and the first calibration data stored in the correction information memory; and

a module side communication interface which outputs stereo image data subjected to the image processing by the image output processing circuit and the second calibration data stored in the correction information memory to the communication line, and

the central control unit comprising;

a unit side communication interface which inputs to the central control unit the stereo image data output to the communication line through the module side communication interface; and

a range image evaluation device which obtains a distance to the object as a target based on the stereo image data and the second calibration data input through the unit side communication interface.

65. The stereo camera system according to claim 64, wherein the first calibration data is calibration data which is used to correct unbalance generated between a pair of stereo image data.

66. The stereo camera system according to claim 65, wherein the first calibration data is calibration data which is used to perform rectification processing with respect to the stereo image data;

67. The stereo camera system according to claim 65, wherein the first calibration data is calibration data which is used to perform shading correction processing with respect to the stereo image data.

68. The stereo camera system according to claim 64, wherein the second calibration data is distance correction data which is used to correct a distance calculation result output from the range image evaluation device in the central control unit.

69. A stereo optical module for use in a stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, the stereo camera system comprising:

the stereo optical module which acquires a stereo image;

a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module; and

a communication line through which stereo image data output from the stereo optical module is input to the central control unit,

the stereo optical module comprising;

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images produced by the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;

a correction information memory which stores calibration data of the stereo camera system, the calibration data including first calibration data and second calibration data;

an image output processing circuit which performs predetermined image processing based on the digital stereo image data generated by the analog-to-digital converting section and the first calibration data stored in the correction information memory; and

a module side communication interface which outputs stereo image data subjected to the image processing by the image output processing circuit and the second calibration data stored in the correction information memory.

70. The stereo optical module according to claim 69, wherein the first calibration data is calibration data which is used to correct unbalance generated between a pair of stereo image data.

71. The stereo optical module according to claim 70, wherein the first calibration data is calibration data which is used to perform rectification processing with respect to the stereo image data.

72. The stereo optical module according to claim 70, wherein the first calibration data is calibration data which is used to perform shading correction processing with respect to the stereo image data.

73. The stereo optical module according to claim 69, wherein the second calibration data is distance correction data which is used to correct a distance calculation result output from the range image evaluation device in the central control unit.

74. A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

a stereo optical module which acquires a stereo image;

a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module; and

a communication line through which data concerning the stereo image acquired by the stereo optical module is input to the central control unit,

the stereo optical module comprising;

a stereo optical module which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images produced by the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;

an image output processing circuit which performs predetermined image processing with respect to the digital stereo image data generated by the analog-to-digital converting section;

a range image calculation unit which generates range image data based on stereo image data subjected to the image processing by the image output processing circuit; and

a module side communication interface which outputs the range image data generated by the range image calculation unit to the communication line, and

the central control unit comprising;

a unit side communication interface which inputs the range image data output through the module side communication interface; and

a range image evaluation device which evaluates the object based on the range image data input through the unit side communication interface.

75. The stereo camera system according to claim 74, wherein the image output processing circuit includes a rectification processing circuit which performs rectification processing with respect to the digital stereo image data generated by the analog-to-digital converting section.

76. The stereo camera system according to claim 74, wherein the image output processing circuit includes a shading correction processing circuit which performs shading correction processing with respect to the digital stereo image data generated by the analog-to-digital converting section.

77. The stereo camera system according to claim 74, wherein the module side communication interface outputs the range image data as digital image data to the communication line.

78. The stereo camera system according to claim 77, wherein the module side communication interface performs data compression with respect to the range image data, and then outputs the compressed data as digital data to the communication line.

79. The stereo camera system according to claim 74, wherein the module side communication interface outputs the range image data as analog image data to the communication line.

80. The stereo camera system according to claim 74, wherein the stereo optical module further has a correction information memory which stores calibration data of the stereo camera system, and

the image output processing circuit performs a correction arithmetic operation based on the digital stereo image data generated by the analog-to-digital converting section and the calibration data stored in the correction information memory.

81. The stereo camera system according to claim 80, wherein the calibration data stored in the correction information memory is calibration data which is used to correct unbalance generated between a pair of stereo image data.

82. The stereo camera system according to claim 81, wherein the calibration data which is used to correct unbalance generated between the pair of stereo image data is calibration data which is used to perform rectification processing with respect to the stereo image data.

83. The stereo camera system according to claim 81, wherein the calibration data which is used to correct unbalance generated between the pair of stereo image data is calibration data which is used to perform shading correction processing with respect to the stereo image data.

84. The stereo camera system according to claim 74, wherein the range image evaluation device recognizes an obstacle ahead of the stereo camera system as an evaluation of the object, and judges a distance to the obstacle based on a result of the recognition.

85. The stereo camera system according to claim 74, wherein the range image evaluation device recognizes an automobile traveling ahead of the stereo camera system as an evaluation of the object, and judges a distance to the automobile based on a result of the recognition.

86. The stereo camera system according to claim 74, wherein the range image evaluation device recognizes a white line of a road ahead of the stereo camera system as an evaluation of the object.

87. The stereo camera system according to claim 74, wherein the central control unit further has a driving support device which supports driving of a mobile body in which the stereo camera system is mounted.

88. The stereo camera system according to claim 74, wherein the central control unit further has an information input device which inputs information from the outside of the stereo camera system.

89. A stereo optical module for use in a stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, the stereo camera system comprising:

the stereo optical module which acquires a stereo image;

a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module; and

a communication line through which data concerning the stereo image output from the stereo optical module is input to the central control unit,

the stereo optical module comprising;

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images generated in the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to generate digital stereo image data;

an image output processing circuit which performs predetermined image processing with respect to the digital stereo image data generated by the analog-to-digital converting section;

a range image calculation unit which generates range image data based on stereo image data subjected to the image processing by the image output processing circuit; and

a module side communication interface which outputs the range image data generated by the range image calculation unit to the communication line.

90. The stereo optical module according to claim 89, wherein the image output processing circuit includes a rectification processing circuit which performs rectification processing with respect to the digital stereo image data generated by the analog-to-digital converting section.

91. The stereo optical module according to claim 89, wherein the image output processing circuit includes a shading correction processing circuit which performs shading correction processing with respect to the digital stereo image data generated by the analog-to-digital converting portion.

92. The stereo optical module according to claim 89, wherein the module side communication interface outputs the range image data as digital image data to the communication line.

93. The stereo optical module according to claim 92, wherein the module side communication interface subjects the range image data to data compression, and then outputs the compressed data as digital data to the communication line.

94. The stereo optical module according to claim 89, wherein the module side communication interface outputs the range image data as analog image data to the communication line.

95. The stereo optical module according to claim 89, wherein the stereo optical module further has a correction information memory which stores the calibration data of the stereo camera system, and

the image output processing circuit performs a correction arithmetic operation based on the digital stereo image data generated by the analog-to-digital converting section and the calibration data stored in the correction information memory.

96. The stereo optical module according to claim 95, wherein the calibration data stored in the correction information memory is calibration data which is used to correct unbalance generated between a pair of stereo image data.

97. The stereo optical module according to claim 96, wherein the calibration data which is used to correct unbalance generated between the pair of stereo image data is calibration data which is used to perform rectification processing with respect to the stereo image data.

98. The stereo optical module according to claim 96, wherein the calibration data which is used to correct unbalance generated between the pair of stereo image data is calibration data which is used to perform shading correction processing with respect to the stereo image data.

99. A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

a stereo optical module which comprises;

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generate stereo image data based on the object images generated by the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data to analog-to-digital conversion by the imaging element to generate digital stereo image data;

an image output processing circuit which performs predetermined image processing with respect to the digital stereo image data generated by the analog-to-digital converting section;

a range image calculation unit which generates range image data based on stereo image data subjected to image processing by the image output processing circuit; and

a module side communication interface which outputs at least one of the range image data generated by the range image calculation unit and the stereo image data;

a central control unit which comprises;

a unit side communication interface which inputs at least one of the range image data and the stereo image data; and

a range image evaluation device which evaluates the object based on at least one of the range image data and the stereo image data input through the unit side communication interface; and

a communication line which connects the module side communication interface with the unit side interface to enable data communication between the stereo optical module and the central control unit.

100. The stereo camera system according to claim 99, wherein the module side communication interface outputs at least one of the range image data and the stereo image data as digital image data to the communication line.

101. The stereo camera system according to claim 100, wherein the module side communication interface subjects at least one of the range image data and the stereo image data to data compression, and then outputs the compressed data as digital data to the communication line.

102. The stereo camera system according to claim 99, wherein the module side communication interface outputs at least one of the range image data and the stereo image data as analog image data to the communication line.

103. The stereo camera system according to claim 102, wherein the module side communication interface allocates image data seen from any viewpoint in a stereo image acquired from the plurality of viewpoints to a first region in image data of one frame, allocates the range image data to a second region different from the first region in the image data of the one frame, and outputs the image data to the communication line.

104. The stereo camera system according to claim 99, wherein the central control unit further has displaying section configured to display image data seen from any viewpoint in a stereo image acquired from the plurality of viewpoints.

105. A stereo optical module comprising:

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images generated by the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;

an image output processing circuit which performs predetermined image processing with respect to the digital stereo image data generated by the analog-to-digital converting section;

a range image calculation unit which generates range image data based on stereo image data subject to the image processing by the image output processing circuit; and

a module side communication interface which outputs at least one of the range image data generated by the range image calculation unit and the stereo image data generated by the imaging element to the communication line.

106. The stereo optical module according to claim 105, wherein the module side communication interface outputs at least one of the range image data and the stereo image data as digital image data to the communication line.

107. The stereo optical module according to claim 105, wherein the module side communication interface subjects at least one of the range image data and the stereo image data to data compression, and then outputs the compressed data as digital data to the communication line.

108. The stereo optical module according to claim 105, wherein the module side communication interface outputs at least one of the range image data and the stereo image data as analog image data to the communication line.

109. The stereo optical module according to claim 105, wherein the module side communication interface allocates image data seen from any viewpoint in stereo image acquired from the plurality of viewpoints to a first region in image data of one frame, allocates the range image data to a second region different from the first region in the image data of the one frame, and outputs the image data to the communication line.

110. A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

a stereo optical module which acquires a stereo image;

a central control unit which evaluates the object as a target based on the stereo image obtained by the stereo optical module; and

a communication line through which data concerning the stereo image acquired by the stereo optical module is input to the central control unit,

wherein the stereo optical module comprises;

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images produced by the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;

a range image calculation unit which generates range image data based on the digital stereo image data produced by the analog-to-digital converting section; and

a module side communication interface which outputs the range image data generated by the range image calculation unit to the communication line, and

the central control unit comprises;

a unit side communication interface which inputs the range image data output through the module side communication interface; and

a range image evaluation device which evaluates the object based on the range image data input through the unit side communication interface.

111. A stereo optical module for use in a stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, the stereo camera system comprising:

the stereo optical module which acquires a stereo image;

a central control unit which evaluates the object as a target based on the stereo image acquired by the stereo optical module; and

a communication line through which data concerning the stereo image output from the stereo optical module is input to the central control unit,

the stereo optical module comprising;

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images produced by the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data;

a range image calculation unit which generates range image data based on the digital stereo image data produced by the analog-to-digital converting section; and

a module side communication interface which outputs the range image data generated by the range image calculation unit to the communication line.

112. A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

a stereo optical module which acquires a stereo image;

a central control unit which evaluates the object as a target based on data concerning the stereo image acquired by the stereo optical module; and

a communication line which allows communication between the stereo optical module and the central control unit by using a digital signal,

wherein the stereo optical module comprises;

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images produced by the stereo optical system;

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data; and

a module side communication interface which outputs information concerning the stereo image acquired by the stereo optical module to the communication line upon receiving a control command from the central control unit, and

the central control unit comprises;

a unit side communication interface which inputs the information concerning the stereo image output through the module side communication interface, and outputs a control command from the central control unit to the stereo optical module; and

a range image evaluation device which evaluates the object based on the information concerning the stereo image input through the unit side communication interface.

113. The stereo camera system according to claim 112, wherein the information concerning the stereo image is the digital stereo image data.

114. The stereo camera system according to claim 112, wherein the stereo optical module further comprises a range image calculation unit which calculates range image data based on the digital stereo image data generated by the analog-to-digital converting section, and

the information concerning the stereo image is the range image data.

115. The stereo camera system according to claim 112, wherein the stereo optical module further comprises a range image calculation unit which calculates range image data based on the digital stereo image data generated by the analog-to-digital converting section, and

the information concerning the stereo image is image data at any viewpoint in the plurality of viewpoints of the stereo image and the range image data.

116. The stereo camera system according to claim 112, wherein the stereo optical module further comprises a data generation device which generates predetermined data in response to input of the control command from the central control unit, and outputs the generated data to the central control unit.

117. The stereo camera system according to claim 112, wherein the predetermined data is data concerning a temperature, and the data generation device is a temperature sensor which detects the temperature and outputs the detected temperature to the central control unit.

118. The stereo camera system according to claim 112, wherein the predetermined data is data concerning a rain drop quantity, and the data generation device detects the rain drop quantity and outputs the detected rain drop quantity to the central control unit.

119. The stereo camera system according to claim 112, wherein the predetermined data is calibration data, and the data generation device is a correction information memory in which the calibration data is stored.

120. The stereo camera system according to claim 112, wherein the stereo optical module controls a power consumption mode of the stereo optical module in response to input of the control command from the central control unit.

121. A stereo optical module comprising:

a stereo optical system which generates object images seen from a plurality of viewpoints with respect to the same object;

an imaging element which generates stereo image data based on the object images produced by the stereo optical system; and

an analog-to-digital converting section which subjects the stereo image data generated by the imaging element to analog-to-digital conversion to produce digital stereo image data,

wherein information concerning the stereo image is output to a communication line in response to an externally input control command.

122. The stereo optical module according to claim 121, wherein the information concerning the stereo image is the digital stereo image data.

123. The stereo optical module according to claim 121, wherein the stereo optical module further comprises a range image calculation unit which calculates range image data based on the digital stereo image data generated by the analog-to-digital converting section, and

the information concerning the stereo image is the range image data.

124. The stereo optical module according to claim 121, wherein the stereo optical module further comprises a range image calculation unit which calculates range image data based on the digital stereo image data generated by the analog-to-digital converting section, and

the information concerning the stereo image is at least one of image data at any viewpoint in the plurality of viewpoints of the stereo image and the range image data.

125. The stereo optical module according to claim 121, wherein the stereo optical module further comprises a data generation device which outputs predetermined data to the communication line in response to input of the control command from the outside.

126. The stereo optical module according to claim 125, wherein the predetermined data is data concerning a temperature, and the data generation device is a temperature sensor which detects the temperature and outputs the detected temperature to the communication line.

127. The stereo optical module according to claim 125, wherein the predetermined data is data concerning a rain drop quantity, and the data generation device is a rain drop sensor which detects the rain drop quantity and outputs the detected rain drop quantity to the communication line.

128. The stereo optical module according to claim 125, wherein the predetermined data is calibration data, and the data generation device is a correction information memory in which the calibration data is stored.

129. The stereo optical module according to claim 121, wherein a power consumption mode of the stereo optical module is controlled in response to input of the externally input control command.

130. A stereo camera system which shoots object images seen from a plurality of viewpoints with respect to the same object to obtain a distance to the object as a target, comprising:

at least one stereo optical module which acquires a stereo image;

at least one optical module which acquires an image different from that of the stereo optical module;

a central control unit which performs sequence control over the stereo optical module and the optical module; and

a communication line which connects the stereo optical module, the optical module and the central control unit with each other for communication.

131. The stereo camera system according to claim 130, further having a driving status detection module which detects a driving status of a mobile body in which the stereo camera system is mounted, and outputs information concerning the detected driving status to the communication line.

132. The stereo camera system according to claim 131, wherein the driving status detection module is an engine control module which detects a status of an engine mounted in the mobile body.

133. The stereo camera system according to claim 131, wherein the driving status detection module is a brake sensor module which detects a status of a brake mounted in the mobile body.

134. The stereo camera system according to claim 130, further having an environment monitoring module which detects an environmental state of a mobile body in which the stereo camera system is mounted, and outputs information concerning the detected environmental state to the communication line.

135. The stereo camera system according to claim 134, wherein the environment monitoring module is a radar module which detects an external status of the mobile body.

136. The stereo camera system according to claim 134, wherein the environment monitoring module is a load detection module which detects a load status of the mobile body.