Stereo camera system and stereo optical module

• US 7,386,226 B2
• Filed: 11/29/2005
• Issued: 06/10/2008
• Est. Priority Date: 05/29/2003
• Status: Expired due to Fees

• Current Assignee: Olympus Corporation
• Original Assignee: Olympus Corporation
• Inventors: Miyoshi, Takashi, Iwaki, Hidekazu, Arai, Kazuhiko, Kosaka, Akio
• Primary Examiner(s): PERKEY, WILLIAM B
• Application Number:
  US11/288,647
• Publication Number:
  US 20060077543A1
• Time in Patent Office: 924 Days
• Field of Search: 396/89, 396/324, 396/325, 396/331, 348/47, 348/148, 348/46, 348/135, 348/139, 382/104, 356/3.14
• US Class Current: 396/89
• 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 data concerning the stereo image acquired by the stereo optical module is input to the central control unit,

the stereo optical module being configured as an integral unit and 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;

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, the predetermined image processing including rectification processing for correcting distortion of an image due to displacement of an epipolar line of right and left images generated by mechanical displacement of an optical member or distortion of a lens;

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.

2. 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 by the analog-to-digital converting section.

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

4. The stereo camera system according to claim 3, 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.

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

6. The stereo camera system according to claim 1, 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.

7. The stereo camera system according to claim 1, 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.

8. The stereo camera system according to claim 1, 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.

9. 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.

10. 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.

11. A stereo optical module configured as an integral unit 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;

a correction information memory which stores calibration 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, the predetermined image processing including rectification processing for correcting distortion of an image due to displacement of an epipolar line of right and left images generated by mechanical displacement of an optical member or distortion of a lens;

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.

12. The stereo optical module according to claim 11, 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.

13. The stereo optical module according to claim 11, wherein the module side communication interface outputs the range image data as digital image data to the communication line.

14. The stereo optical module according to claim 13, 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.

15. The stereo optical module according to claim 11, wherein the module side communication interface outputs the range image data as analog image data to the communication line.

16. 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 is configured as an integral unit and 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 by the imaging element to generate digital stereo image data;

a correction information memory which stores calibration 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, the predetermined image processing including rectification processing for correcting distortion of an image due to displacement of an epipolar line of right and left images generated by mechanical displacement of an optical member or distortion of a lens;

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.

17. The stereo camera system according to claim 16, 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.

18. The stereo camera system according to claim 17, 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.

19. The stereo camera system according to claim 16, 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.

20. The stereo camera system according to claim 19, 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.

21. The stereo camera system according to claim 16, 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.

22. A stereo optical module configured as an integral unit and 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;

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, the predetermined image processing including rectification processing for correcting distortion of an image due to displacement of an epipolar line of right and left images generated by mechanical displacement of an optical member or distortion of a lens;

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.

23. The stereo optical module according to claim 22, 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.

24. The stereo optical module according to claim 22, 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.

25. The stereo optical module according to claim 22, 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.

26. The stereo optical module according to claim 22, 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.